Principal/Sr. Controls & Robotic Behaviors Software Engineer

Key position reporting into CTO /Co-Founder and part of the core R&D team. Set direction, design, build and optimize behaviors for quadrupedal robotics platform covering locomotion and manipulation for a range of actuation and DOF hardware designs.


Work with a small, fast-moving and motivated team delivering next-generation legged robots for industrial, military and public safety applications.  Self-motivated, solid work ethic and ability to execute under demanding timelines and write code for mission-critical applications and find cutting edge solutions to commercializing next-generation complex robotic systems. Strong growth opportunity, and ability to help set the R&D direction as the company expands.


Ghost is venture and DoD financed with enormous potential to change the landscape of autonomous legged robotics with commercialization opportunities in enterprise, defense, public safety and eventually consumer segments. The company recently won sub-prime slots from two primes for the DRAPA SubT project, is working on several DoD projects, is an Innovation  Award winner at AUVSI Defense Conference, and a finalist for the NVIDIA AI Inception Awards. 


Minimum Experience & Education

Master’s or Ph.D. in software, mathematics, physics, electrical or other engineering disciplines from a leading institution



Philadelphia, PA


Compensation & Work Environment

Relocation package available. Competitive base w/ full benefits, highly-motivating equity incentive package. Flexible time-off and work-hours policy including office meals. Focus on output and ability to work with a stellar team of Ph.D.’s and experienced multi-disciplinary engineers covering mechanical, electrical, firmware, software, perception and autonomous disciplines.



Key Responsibilities

  • Strategy, architecture and execution of core controls /behavior platform R&D

  • Online nonlinear optimization for gait selection and implementation 

  • Field testing and debugging (in a wide variety of environments and initial conditions),  and implementation of transitional behaviors

  • Managing and supporting a consistent API for programming real-time behaviors using the Ghost OS /SDK from the onboard microcontroller, computer, and simulation, and testing across platforms

  • URDF and/or physical simulation for physical correspondence

  • Implementation of redundant control algorithms and safety
  • Refining a deployment workflow from basic models to simulation to hardware

  • Implementation/maintenance for efficient libraries for approximate onboard real-time forward/inverse dynamics, control, and collision detection algorithms



Minimum Qualifications and Experience 

  • Lead R&D programs and teams for complex software and/or electromechanical products

  • Extensive knowledge of kinematics and dynamics

  • Experience/familiarity with convex and non-convex optimization solvers/toolboxes

  • Experience with deploying control algorithms in the physical world on hardware, and debugging with hardware-in-the-loop

  • Must be able to write and understand production-quality C/C++

  • Experience with simulation engines such as Bullet, MuJoCo, etc.

  • Linux experience (preferably with PREEMPT-RT or other real-time kernel), preferably on single-board computers and other embedded Linux targets

  • Expert with IPC (shared memory, UDP, TCP/IP), low-latency communications protocols

  • Some experience writing embedded software (ARM Cortex-M4 or similar)

  • Must be disciplined and willing to persevere on projects for long periods of time


Apply with qualifications and cover letter

Apply​ with qualifications and cover letter​

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