Staff Robotics Control Engineer - Whole-Body Control (Wheeled Platform)

📋 Description

• Lead evolution of Wheeled Alpha whole-body controller: task formulation, prioritisation, weighting
• Coordinate base, torso and dual-arm motion in a single whole-body formulation for stable
• Own constraint layer: self-collision avoidance, joint/velocity limits, singularity handling
• Drive evolution toward MPC-based whole-body control for predictive planning over instantaneous QP.
• Define performance metrics; ensure deterministic evaluation in simulation and on hardware.
• Mentor control engineers and collaborate with hardware teams to stay coherent.

🎯 Requirements

• Deep expertise in optimisation-based whole-body control: hierarchical and weighted QP, task
• Strong command of WBC toolkit: operational space/control, inverse dynamics, IK, redundancy
• Deployed WBC on real high-DoF hardware (humanoids/mobile manipulators) coordinating base and
• Fluency with QP/NLP solvers: conditioning, infeasibility, warm starting, solve-time budgets.
• Strong dynamic modelling: rigid body kinematics/dynamics, Jacobians, URDF modelling, payload
• Expert modern C++ for real-time control; Python for analysis/prototyping.

🎁 Benefits

• Competitive equity: stock options with meaningful upside.
• 30+ paid days off, including 23 days annual leave and UK holidays.
• Private healthcare, including virtual and in-person care.
• Pension scheme with 8% total contribution.
• In-office meals and snacks; work with world-class engineers and experts.