--- title: "Senior Low-level Control Engineer - End-Effectors at The Humanoid" canonical: "https://jobhunter.my/vacancies/job-d98ddb7bb9debc33-senior-low-level-control-engineer-end-effectors-the-humanoid" date_posted: "2026-08-23T14:01:37.393Z" verified: "2026-08-27T01:12:40.013Z" --- # Senior Low-level Control Engineer - End-Effectors **Company:** The Humanoid **Location:** UK, London **Remote signal:** No **Published:** 2026-08-23T14:01:37.393Z **Verified by JobHunter:** 2026-08-27T01:12:40.013Z ## Job description Here at Humanoid, we believe in a future where robots amplify human potential. That’s why we’ve set out on a mission to build the world’s most capable, commercially-scalable, and safe humanoid robots. We’re bringing that mission to life with HMND‑01 Alpha - our rapidly developed humanoid platform now running in real industrial pilots - and we’re growing the team to take it even further. About the Role We are looking for a Senior Low-level Control Engineer to join our Control Team in London, focusing on control development and integration for our end-effectors . You will design, implement and validate actuator- and joint-level controllers and grasp-level behaviours across a family of end-effector variants - parallel and multi-finger grippers, vacuum and suction tooling, and purpose-built tooling for specific customer tasks. Each variant brings different actuation, different sensing and, critically, different transmission mechanisms : geared direct drives, cable- and tendon-driven routings, differential and coupled linkages, and underactuated designs where few actuators must produce adaptive, compliant grasping across many degrees of freedom. The ideal candidate has a solid background in control theory , strong software engineering skills in C++ , and comfort working from real-time embedded control up through kinematics/dynamics and hardware debugging. You will work closely with mechanical and hardware engineers - early enough in the design cycle that your input shapes actuation and transmission choices rather than merely inheriting them. What You'll Do Low-Level Control Development: Tune and validate actuator- and joint-space control loops (PID, feedforward, impedance/admittance, observers, state feedback) for multi-DoF end-effectors in ROS2. Develop grasp-level behaviours: grasp force control, compliant closing, slip detection and correction, and adaptive grasping on underactuated grippers. Implement safety and fault-handling mechanisms — thermal and over-current protection, stall and jam detection, grip-loss detection, safe behaviour on fault. Transmission Mechanisms, Modeling & System Identification: Build and identify models of actuators, transmissions and mechanisms - geared, cable/tendon-driven, differential, coupled and underactuated - including compliance, friction, backlash, hysteresis, cable stretch and pretension effects. Own the joint-to-actuator abstraction for these mechanisms and the correct exposure of joint versus actuator state through the control stack. Contribute directly to transmission mechanism design: work with mechanical engineers on routing, reduction ratios, DoF coupling and underactuation strategy, bringing the controllability and observability consequences of each option into the conversation early. Sensor & Hardware Integration: Integrate and calibrate end-effector sensing (F/T, tactile, encoders, temperature/current, vacuum feedback) with real-time acquisition across the control stack. Hands-on bring-up and debugging of new end-effectors, including test-stand work and vendor-supplied units. Cross-Disciplinary Collaboration: Close the loop with mechanical/electronics engineers across sites on actuation, transmission and sensing requirements. Work with data collection, applications and deployment teams so end-effectors work reliably in real use. What We're Looking For Shipped real-time-safe, object-oriented C++ control software running on real hardware. Tuned and validated controllers on physical actuators, including sensor calibration and bring-up. Modelled, identified and controlled through real mechanical transmissions - gearing, cables/tendons, differentials, coupled linkages or underactuated mechanisms - and dealt with the compliance, friction and backlash they introduce. Worked on end-effectors or comparable multi-DoF mechanisms, including grasp control and supporting sensing. Debugged at the fieldbus and OS layer: e.g. EtherCAT or CAN, on an RTOS or real-time Linux. Strong control theory foundation (linear/nonlinear control, stability, observers, state estimation, feedback/feedforward, filtering, frequency-domain analysis) applied to multi-DoF mechanisms via Jacobians, numerical IK/FK, and URDF/Xacro. Nice to have: BLDC motor control (commutation, current control, torque optimization). ros2_control internals (hardware interfaces, controllers, controller_manager, plugins, lifecycle nodes). Tendon- or cable-driven mechanisms specifically, including pretension management, routing friction and wear behaviour. Tactile sensing integration; vacuum and suction tooling, including multi-cup arrays and grip-loss handling. System identification toolchains and simulation environments (MATLAB/Simulink, MuJoCo, Isaac Sim). What We Offer Competitive equity: stock options with meaningful upside as we scale. 30+ paid days off, including 23 days of annual leave, all UK bank holidays, and additional company closure days (including Christmas–New Year shutdown). Private healthcare, including virtual and in-person care. Pension scheme with 8% total contribution (5% employee, 3% employer) on full earnings. Free daily breakfast, catered lunch, and snacks in-office. Work at the frontier - collaborate daily with world-class engineers, researchers, and product experts building the next generation of AI and humanoid robotics. Real ownership - direct access to founding leadership, meaningful input on product direction, and the ability to drive key initiatives from day one. - [Open the employer's vacancy](https://jobs.ashbyhq.com/humanoid/c08fb643-c84c-4e48-a731-349e7acad6b8/application) - [Browse the public pilot](https://jobhunter.my/vacancies) > JobHunter is a monitoring service. Verify availability and application terms on the employer's page.