Full-Stack Motor Control Engineer

Figure is an AI Robotics company developing a general purpose humanoid. Our humanoid robot, Figure 02, is designed for commercial tasks and the home. We are based in San Jose, CA and require 5 days/week in-office collaboration. It’s time to build. We are seeking a Full-Stack Motor Control Engineer who combines strong control-theory expertise with deep embedded-firmware capability and a practical understanding of inverter hardware and sensors. You will contribute to the complete motor control stack — from modeling and algorithm design through embedded implementation and lab validation. This role requires a balance of analytical depth, hands-on debugging, and system-level awareness, working closely with cross-functional teams to deliver robust, high-performance actuation solutions for our humanoid. Responsibilities: Architect, implement, and tune current control loops for PMSM and BLDC actuators. Develop, optimize and debug real-time embedded firmware in C/C++ for MCUs/DSPs (e.g., STM32). Design and validate observers and estimators for primary controls and for enhanced diagnostics and fallback strategies. Design and validate state machines for control modes and fault handling. Model control systems and simulate dynamics using MATLAB/Simulink or Python. Bring up and debug custom inverter hardware, current sensors, and encoders. Develop automated test routines for dynamic response, torque linearity, and efficiency mapping for motor-dynamometers and actuator-dynamometers. Integrate high-speed telemetry and data-logging for system identification and control verification. Collaborate cross-functionally to integrate actuators into robotic subsystems and end-effectors. Support continuous improvement of control robustness and performance. Requirements: 6+ years of hands-on experience developing embedded systems for high-performance motion control. Proficiency in embedded C/C++ for real-time control on MCUs/DSPs. Strong foundation in motor control theory (FOC, dq transformations, loop design, field-weakening). Solid understanding of ADC/PWM synchronization, ISR timing and task-scheduling. Experience with motor drivers, inverters, current sensing, and encoder interfaces Familiarity with digital signal processing and frequency-domain analysis for control diagnostics. Proficiency in MATLAB/Simulink or Python for modeling and data analysis. Skilled with lab equipment for validation and software debugging. Excellent communication and planning skills. Resilient and effective in fast-paced, challenging environments. MS or PhD in electrical engineering, controls, or a related field. Bonus Qualifications: Exposure to functional-safety or high-reliability firmware design. Prior work on robotic actuation systems, industrial drives, or precision motion platforms. Working knowledge of communication buses and protocols like Ethernet, Ethercat, Serial, SPI and I2C. Expertise in torque, position and velocity closed loop control. The US base salary range for this full-time position is between $150,000 - $240,000 annually. The pay offered for this position may vary based on several individual factors, including job-related knowledge, skills, and experience. The total compensation package may also include additional components/benefits depending on the specific role. This information will be shared if an employment offer is extended.