锦鲤求职岗位描述
Responsibilities
• Develop embedded firmware for gripper actuator control: position/force/velocity control loops, sensor sampling, communication protocols
• Build the real-time control layer: gripper open/close trajectories, force-controlled grasping, compliance tuning, impedance control modes
• Implement sensor fusion for grasp feedback: force/torque, tactile, proximity, and encoder data aggregated into a coherent gripper state
• Design the gripper control abstraction layer — a unified interface that heterogeneous gripper types (parallel jaw, multi-finger, vacuum, adaptive) expose to higher-level systems
• Define and implement the action/observation spaces that learned policies (diffusion policies, VLAs, foundation models) interact with: what the policy commands, what feedback it receives, at what frequency
• Build grasp verification and monitoring: closed-loop confirmation that a grasp is secure, slip detection, anomaly detection during manipulation
• Implement safety primitives: force limits, collision response, emergency release, graceful degradation when sensing fails
• Develop parametric control configurations that auto-adapt when a new gripper geometry is generated — control gains, stroke limits, and force profiles derived from the mechanical design
• Integrate gripper control with robot control frameworks across multiple embodiments (humanoids, cobots, mobile manipulators)
• Build simulation interfaces: gripper dynamics models for sim-to-real validation, hardware in-the-loop testing
• Own the communication stack between gripper and host robot: EtherCAT, CAN, serial, or custom protocols depending on platform
Qualifications
• BS/MS in CS, Robotics, Electrical Engineering, or Mechatronics
• 4+ years writing controls software for real robotic hardware — actuators, sensors, and real time loops that run on physical systems
• Firmware development experience: C/C++ on embedded platforms (STM32, ESP32, or similar), RTOS or bare-metal, real-time control loops at 1kHz+
• Strong Python for higher-level control, integration, and tooling
• Experience with motor control: PID/cascade control, current/velocity/position loops, brushless DC or servo drives
• Understanding of force control and impedance/admittance control as applied to grasping and contact-rich manipulation
• Familiarity with robot control frameworks (ROS2, direct SDK integration with UR/Franka/ humanoid platforms, or custom stacks)
• Experience with communication protocols used in robotics: CAN, EtherCAT, SPI, I2C, RS-485, or similar
• Sensor integration experience: reading and fusing force/torque sensors, encoders, tactile arrays, or IMUs in real-time
• Demonstrated ability to ship software that runs on physical hardware in the real world — not just simulation