We are looking for a Senior Software Engineer – Robotics Manipulation & Vision to lead the development of the manipulation system for our autonomous mobile manipulation robot. The role involves motion planning, grasp planning, vision-guided manipulation, and safety-critical control of robotic arms and end-effectors. You will work closely with the navigation and perception teams to ensure seamless robot-environment interaction.
Key Responsibilities:- Design and implement robotic manipulation pipelines using MoveIt, ROS 2, and C++.
- Develop vision-guided manipulation (eg., object detection and pose estimation) for detecting shapes of toilets and sinks
- Optimize path planning (OMPL, STOMP) for collision-free arm motions in tight spaces.
- Implement force-torque control and compliant motions for safe interaction with surfaces.
- Architect behavior tree-based task execution for manipulation workflows (e.g., pick tool → scrub → retract).
- Integrate safety monitors (e.g., torque limits, emergency stops) into the manipulation stack.
- Work with embedded teams to ensure low-latency communication between manipulators and sensors.
- Conduct real-world testing in fields and refine manipulation robustness.
- Create APIs to interface with 3rd-party UI dashboards
- Low-Level Driver Development:
- Write custom drivers for actuators (servos, linear motors) and end-effector tools (suction pumps, spray nozzles).
- Interface with microcontrollers (Arduino, STM32) for real-time sensor feedback (force-torque, proximity sensors).
Required Skills & Qualifications:- PhD/MS in Robotics, computer science or equivalent domain.
- 5+ years in robotic manipulation (industrial arms, mobile manipulators).
- Expertise in MoveIt, ROS 2, and motion planning (experienced with MoveIt Pro will be a great plus).
- Strong C++ skills with experience in real-time robotic control.
- Background in computer vision (OpenCV, PyTorch, YOLO) for object detection/grasping.
- Experience with end-effector tooling (grippers, suction systems, cleaning attachments).
- Knowledge of force control and compliant manipulation strategies.
- Familiarity with behavior trees for task sequencing.
- Bonus: Experience with 6/7-DoF arm kinematics (URDF, IK solvers).
- Prior work with manipulators(eg., KUKA, kinova, UR, Franka)
