Controls Engineer - Legged Robotics (Senior, Staff, Lead)

We're a robotics company building autonomous systems that operate in complex, dynamic environments. We're hiring a Controls Engineer to design, implement, and deploy control algorithms for dynamic legged robots operating in the real world. You'll work across dynamics, optimization, state estimation, and real-time software, owning both the algorithmic innovation and the system-level performance on hardware. This role suits engineers who thrive on high-velocity problem solving, deep technical ownership, and hands-on testing and validation.

How leveling works This is one role, open at the Senior, Staff, or Lead level. The responsibilities below reflect the core of the role at every level. You don't need to decide which level fits you before applying. The selected candidate will be placed at the level commensurate with the skills, scope, and experience they demonstrate through the interview process, and the offer will align with that level. Senior and Staff are individual-contributor positions. Lead carries the same technical scope plus people-leadership responsibilities, for candidates who want them.

What you'll do (all levels)

• Design, implement, and validate advanced control architectures (model-based, optimization-based, learning-augmented) for agility and robustness
• Develop, maintain, and validate state estimation and sensor fusion pipelines (IMU, joint encoders, contact/force sensing)
• Lead gait generation, footstep planning, contact scheduling, and disturbance recovery tuning
• Perform rigorous offline and real-time testing in simulation and on hardware
• Debug and analyze system performance using logs, visualization tools, hardware experiments, and fleet data
• Build automated diagnostics, analysis scripts, and tools to improve robot reliability and field performance
• Collaborate with mechanical, perception, embedded, and systems teams to ensure end-to-end performance and robustness
• Write clean, maintainable, real-time-safe code in C++ and Python
• Contribute to long-term architectural decisions

Senior Controls Engineer 

• Typically reached with 5+ years of relevant experience, or 3+ years following a PhD
• Owns a defined technical area of the controls stack and delivers independently end to end
• Mentors less-experienced engineers
• Track record of deploying control algorithms to real hardware

Staff Controls Engineer 

• Typically reached with 8+ years of relevant experience
• Drives technical direction and architecture across the team's area
• Sets engineering standards and multiplies the output of others
• Demonstrated influence beyond their own deliverables, across teams or an entire controls stack

Lead Controls Engineer 

• Typically reached with 10+ years of relevant experience, including experience guiding engineers
• Staff-level technical scope plus people-leadership responsibilities: direct reports, hiring, performance, and team planning
• Demonstrated ability to grow engineers and run a healthy, productive team

Core qualifications (all levels)

• Strong foundations in control theory (linear, nonlinear, optimal control), with experience in legged locomotion or other dynamic systems. We weigh what you've built and shipped over where your degree is from. An advanced degree in Robotics, Mechanical, Electrical, or Aerospace Engineering, or a related field is one path in. Equivalent industry experience is another.
• Experience with multi-body dynamics, modeling, and simulation (e.g., MuJoCo, Gazebo, Isaac Sim, PyBullet)
• Hands-on experience deploying algorithms on physical robotic systems and debugging complex hardware/software interactions
• Proficiency in modern C++ (C++17/20) and Python
• Experience with Unix/Linux environments and software engineering best practices (version control, CI/CD)

Preferred qualifications

• Experience with legged or humanoid robots and real-world locomotion challenges
• Background in whole-body control frameworks (operational space control, MPC, and similar)
• Familiarity with state estimation methodologies (EKF, factor graphs, UKF)
• Experience architecting data analysis pipelines and automated diagnostic systemsExperience with ROS 2 and real-time middleware
• A combination of classical control and reinforcement learning applied to robotic systems
• Publications or significant open-source contributions in robotics, controls, or estimation
• Demonstrated ability to lead technical efforts and mentor engineers

What we offer

• Work with state-of-the-art legged robots and influence real-world performance
• Hands-on hardware labs and advanced simulation infrastructure
• A collaborative, technically rigorous culture with emphasis on learning and ownership
• Access to real robots, real data, and real impact
• The anticipated starting base salary for this position is $145,000 to $185,000 per year, placed by level as described above

Location  

Philadelphia, PA. This is a full-time, on-site role. No remote candidates will be considered at this time.  

Travel  

None required, though domestic and international opportunities exist for engineers who want field exposure.  

Compensation  

Competitive base salary, full benefits, and a highly motivating equity incentive package. Flexible time off policy. We focus on output, impact, and the ability to work alongside a stellar interdisciplinary team.  

Additional Information  

Clear standard background checks are required pre-hire, post-hire, and at any time during employment. Permanent U.S. residency is required.