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.