Locomotion & Whole-Body Control Engineer (human)

Your mission & challenges

We are growing our legged-robotics capability on NEURA's humanoid 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 ro