Senior Software Engineer, Controls

You will build the real-time control architecture that coordinates an insectoid's full body across changing geometry, orientation, contact, load, and machine state. The work spans dynamics, contact constraints, force allocation, trajectory tracking, actuator limits, transitions, disturbance rejection, and recovery, carried through production C++ and onto hardware. You will develop the control-oriented models, system-identification methods, and hardware-in-the-loop environments needed to build and validate the controller, then establish its measured operating envelope on the physical machine.