Staff Firmware Engineer

At Rhoda AI, we're building the full-stack foundation for the next generation of humanoid robots — from high-performance, software-defined hardware to the foundational models and video world models that control it. Our robots are designed to be generalists capable of operating in complex, real-world environments and handling scenarios unseen in training. We work at the intersection of large-scale learning, robotics, and systems, with a research team that includes researchers from Stanford, Berkeley, Harvard, and beyond. We're not building a feature; we're building a new computing platform for physical work — and with over $400M raised, we're investing aggressively in the R&D, hardware development, and manufacturing scale-up to make that a reality.

You will own the development of Rhoda's low-level firmware stack for distributed real-time control across humanoid platforms. This role centers on deterministic communication, control-loop synchronization, and embedded software robustness in an EtherCAT environment spanning dozens of joints, sensors, and distributed controllers. You will design, implement, and validate firmware components that guarantee sub-millisecond coordination between motor drivers, safety controllers, and perception nodes — bridging the mechanical, electrical, and control domains.

This role is a Senior MTS reporting directly to the VP of Hardware Engineering, with a clear path to grow into a managerial role as the firmware and controls team scales.

What You'll Do

• Select and tune RTOS; define priorities and scheduling; optimize interrupt and DMA paths; harden watchdogs and recovery; measure and guard timing budgets

• Design, implement, and maintain low-level firmware for real-time motion control nodes over EtherCAT

• Develop synchronization and communication layers ensuring deterministic cycle times (<1ms)

• Configure and optimize EtherCAT masters and slaves (distributed clocks, mailbox protocols, PDO mapping)

• Implement real-time safety mechanisms (Safe Torque Off, watchdogs, and heartbeat monitoring)

• Collaborate with Electronics, Controls, and Systems teams to define timing budgets and data interfaces

• Contribute to the architecture of the hardware abstraction layer (HAL) and firmware APIs for actuator control

• Develop unit, HIL, and integration tests for firmware validation

• Profile and optimize ISR and DMA paths to minimize latency and jitter

• Support bring-up and debugging of custom actuator controllers and sensor boards

• Document firmware architecture, test results, and safety compliance evidence for design reviews

What We're Looking For

• Bachelor's or higher in Electrical Engineering, Computer Engineering, or Robotics

• 8+ years of experience in embedded firmware development for real-time control systems

• Strong expertise with EtherCAT protocol stack implementation and configuration (SOEM, Acontis, or similar)

• Deep understanding of MCU architectures (ARM Cortex-M, RISC-V, or DSPs) and RTOS environments (FreeRTOS, Zephyr, or equivalent)

• Proficiency in C/C++ and experience with low-level debugging (JTAG, logic analyzers, oscilloscopes)

• Knowledge of motor control loops (current/velocity/position), FOC, and synchronization with external clocks

• Familiarity with SPI, I²C, UART, PWM, ADC, and sensor interface design

• Demonstrated ability to write reliable, well-structured, and maintainable embedded code in safety-critical environments

• Evidence of shipping real-time-critical products

Nice to Have (But Not Required)

• Experience developing firmware for humanoid or collaborative robots with distributed actuation

• Familiarity with Safety-over-EtherCAT (FSoE) and functional safety standards (IEC 61508, ISO 13849)

• Experience with FPGA-based EtherCAT co-processors and network timing synchronization (PTP, TSN)

• Knowledge of hardware design constraints (signal integrity, EMC, power distribution)

• Safety-related firmware and fieldbus timing experience; DDS experience; formal methods or static analysis exposure

• Contributions to open-source EtherCAT or real-time frameworks

Why This Role

• Own the firmware layer that makes whole-body humanoid control possible — your work sets the timing and reliability floor that everything else in the robot stack depends on

• One of the deepest and most technically demanding embedded roles in physical AI, operating at the intersection of real-time systems, distributed control, and cutting-edge robotics hardware

• Clear path from individual contributor to engineering leadership as Rhoda scales its firmware and controls organization