Locomotion & Whole-Body Control Engineer (human)

Your mission \& challenges
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We are growing our legged\-robotics capability on NEURA's humanoid (4NE\-1\) and quadruped platforms. This role spans both core layers of the legged control stack: trajectory optimization and MPC for kino\-dynamic motion generation, and QP\-based instantaneous whole\-body control for executing those motions on real hardware at 1 kHz.

The work is focused on contact\-rich dynamics, real\-time optimization, and reliable execution on physical robots. You will collaborate closely with state estimation, simulation, low\-level control, and hardware stakeholders, and with the application teams whose tasks ultimately depend on robust, predictable locomotion and whole\-body behaviour.

• Whole\-body motion generation and control for floating\-base legged platforms — locomotion, balance, contact transitions, and loco\-manipulation (walking while manipulating).


• Trajectory optimization and model\-predictive control pipelines over robot state, contact schedules, ground reaction forces, centroidal momentum, and joint trajectories — using reduced\-order locomotion models such as LIPM, SRBD, and centroidal dynamics.


• QP\-based task\-space inverse dynamics for executing instantaneous whole\-body control from MPC and trajectory\-optimization references at 1 kHz on the real robot.


• Whole\-body modelling for the platform: floating\-base rigid\-body dynamics from URDF / MJCF, joint configuration, FK / IK, Jacobians, and mass / Coriolis / gravity computation.


• Constraint formulation across the MPC and QP layers — contact, friction, torque, joint, kinematic, and stability constraints — with task\-hierarchy design appropriate to the platform.


• Solver performance work across both layers: warm\-starting, numerical conditioning, constraint handling, and real\-time reliability at 500 Hz – 1 kHz.


• Deployment, tuning, and debugging of MPC, trajectory optimization, IK, and inverse dynamics pipelines on physical robots — including platform\-specific contact\-model calibration and validation against real robot data.


• High\-performance C\+\+ for real\-time execution; Python tooling for analysis, prototyping, and debugging.

• MSc or PhD in robotics, controls, mechanical or electrical engineering, computer science, or a related field.


• 4\+ years of hands\-on experience developing trajectory optimization, MPC for locomotion, and / or whole\-body control on physical robots.


• Strong foundation in floating\-base articulated rigid\-body dynamics and contact modelling.


• Strong working knowledge of reduced\-order locomotion models (LIPM, SRBD, centroidal dynamics, or equivalents) and their use inside MPC.


• Strong foundation in optimal control, constrained numerical optimization, and model\-predictive control for legged robots.


• Hands\-on experience with whole\-body QP / TSID frameworks on real robot data — including QP / DDP solver internals.


• Hands\-on experience deploying real\-time control / MPC / WBC pipelines at 500 Hz – 1 kHz on hardware.


• Strong C\+\+ for real\-time robotics software; Python for analysis, tooling, prototyping, and debugging.


• Practical understanding of how contact dynamics, actuator limits, latency, state\-estimation error, solver failure modes, and model mismatch behave on real hardware.


• A collaborative working style: shared design, constructive code review, proactive communication, and reliable coordination across control, estimation, simulation, low\-level control, and hardware disciplines. Strong teamwork is essential for this role.

• Hands\-on experience on humanoids, quadrupeds, or other high\-DOF legged robots.


• Familiarity with Pinocchio, MuJoCo, Crocoddyl, IPOPT, TSID, OCS2, or similar open\-source tools.


• Hierarchical QP, weighted QP, task prioritization, contact force optimization, or operational\-space control.


• Contact planning, gait optimization, balance recovery; CPG\-based or hybrid CPG / MPC controllers.


• Multi\-contact WBC: foot contact, bimanual grasping, or base\-arm coordination.


• Contact\-consistent dynamics and impact\-aware control transitions.


• Experience with torque\-controlled robots and high\-bandwidth electric actuation.


• Publications at RSS, ICRA, IROS, or CoRL in legged locomotion or whole\-body control.

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