Openings
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Job Overview
We are looking for a hands-on Firmware Engineer with deep expertise in motor control for precision robotics. You will own everything from low-level MCU drivers through high-level position-control algorithms for our next-generation dexterous robotic hands. Basic familiarity with electronics is helpful, but your core mission is rock-solid, real-time firmware.
About Us
We are a well-funded startup backed by top VCs and led by alumni of Tesla, Waymo, and Apple. Our goal is to redefine manipulation with state-of-the-art robotic hands, and we need creative, driven engineers to make it happen.
Responsibilities
Motor-Control Firmware
Develop and optimize Field-Oriented Control (FOC), trapezoidal/sinusoidal commutation, torque, velocity, and position loops for multi-phase BLDC actuators.
Implement current-sense, Hall/encoder, and sensor-less algorithms; tune PID/observer gains for high-bandwidth, low-noise performance.
Embedded Platform & Drivers
Write bare-metal and RTOS-based (e.g., FreeRTOS, Zephyr) firmware on ARM-Cortex or similar MCUs.
Build and maintain peripheral drivers (ADC, PWM, timers, DMA, SPI, I²C, UART, GPIO).
Develop and maintain Hardware Abstraction Layers (HAL) to ensure modular, scalable, and portable firmware.
High-Reliability Communications
Architect deterministic communication stacks using CAN 2.0/FD, EtherCAT, SPI, and UART; design message framing and error handling.
System Integration & Collaboration
Work closely with mechanical and controls engineers to co-design actuator modules and validate performance on hardware-in-the-loop (HIL) test rigs.
Interface with robotics-software teams to expose APIs and integrate with ROS 2 and higher-level planners.
Participate in design- and code-reviews, write clear documentation, and mentor junior engineers.
Testing & Quality
Develop unit, HIL, and end-of-line tests; profile real-time latency and MCU resource usage; perform root-cause analysis on field returns.
Required Skill Set
5+ years developing production firmware for high-performance electromechanical systems.
Demonstrated mastery of BLDC/PMSM motor-control theory and implementation (FOC, sensor-less, current/velocity/position loops).
Strong C/C++ for resource-constrained MCUs; experience with real-time debugging tools (SWO, J-Link, oscilloscopes, logic analyzers).
Expertise in CAN-based networks (CAN 2.0, CAN-FD), EtherCAT, SPI, and related diagnostic tools (e.g., CANalyzer, Wireshark).
Solid grasp of control-system math (PID tuning, observers, state-space) and fixed-point/embedded DSP techniques.
Proven track record collaborating across mechanical, electrical, and software teams; excellent written and verbal communication skills.
Experience with developing and implementing Hardware Abstraction Layers (HAL).
Nice-to-Have
Basic PCB bring-up skills (reading schematics, probing with DMM/oscilloscope).
Experience with tactile sensing processing firmware and IMU processing firmware.
Experience with safety-critical coding standards (MISRA, IEC 61508, ISO 26262).
Prior work in robotic grippers, surgical robots, drones, or electric powertrains.
Education
B.S. or higher in Electrical Engineering, Computer Engineering, Mechatronics, or a related field (or equivalent practical experience).
Why Join Us?
Make an outsized impact as an early, founding-level firmware engineer.
Build novel hardware that combines cutting-edge actuation, sensing, and AI.
Competitive salary, outstanding equity, and full benefits.
Collaborative, inclusive culture that values rapid iteration and technical excellence.
How to Apply Send your resume and a brief description of a motor-control project you are proud of to careers@tetheria.ai. Let’s build the future of dexterous robotics together!
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