Robot Motion Control Intern

Job Responsibilities

• Assist in the design, development, debugging, and optimization of robot motion control-related modules, supporting the robot's stable movement, posture adjustment, and contact operations in real-world scenarios.
• Assist in completing the development and integration of control interfaces for motion units such as robot arms, end effectors, waist, lower limbs, or mobile platforms.
• Participate in the development and capability iteration of functions related to trajectory generation, motion execution, posture control, speed control, force control, and compliance control in robotic operation tasks.
• Assist in the kinematic modeling of robotic arms and end tools, coordinate system calibration, trajectory planning and execution control, and optimize the stability of operations such as grasping, pushing and pulling, pressing, and handling.
• Assist in developing and debugging force-position hybrid control, impedance control, admittance control, and other control strategies for robot contact tasks, to reduce contact impact and operation failure rates.
• Participate in the debugging of the robot's full-body coordinated movement functions, and assist in achieving coordinated control of the upper limbs, torso, waist, lower limbs, or mobile platform in complex operational tasks.
• Assist in completing the interface integration between the motion control module and perception, SLAM, task planning, system engineering, and other modules, establishing a closed-loop link from target recognition and motion planning to action execution.
• Participate in on-site debugging, problem troubleshooting, parameter tuning, and performance optimization in real robot environments to improve the system's stability and reproducibility in actual tasks.
• Assist with motion-control validation, trajectory playback, collision detection, and manipulation-strategy testing in simulation, then bring validated control solutions onto physical robots.
• Collaborate with support robots to achieve the engineering implementation from prototype verification to scenario-based deployment, improving the success rate, safety, and delivery capability of operational tasks.

1. Basic General Ability (Base)

• Proficient in Linux/Ubuntu development environment, with practical experience in robot system development and on-machine debugging preferred;
• Proficient in C and Python, with basic abilities in coding, debugging, and project implementation.
• Familiar with the ROS/ROS2 system, understanding common mechanisms such as Topic, Service, Action, TF, parameter management, rosbag, etc.;
• Master the basics of robot kinematics, including forward and inverse kinematics, Jacobian matrix, coordinate transformation, SE(3), quaternions, and pose calculation;
• Familiar with common motion planning and trajectory generation methods, able to assist in completing trajectory planning, interpolation, smoothing, and constraint handling for robotic arms or mobile robots.
• Understand the fundamentals of robot dynamics and control, and be familiar with common methods such as PID, feedforward control, state feedback, torque control, and impedance control.
• Has practical experience in robot or robotic arm debugging and can assist in handling engineering issues such as unstable trajectories, vibrations, limit exceedances, collisions, and force control abnormalities;
• Proficient in using Git, with good coding standards, documentation habits, testing awareness, and the ability to collaborate across modules.

2. Specific Technical Directions (meeting one or more of them is sufficient)

Track A: Robotic Arm Manipulation and End-Effector Control

• Understand robotic arm kinematics, inverse solution solving, trajectory planning, end-effector pose control, and collision constraint handling; be familiar with control strategies for robotic arm tasks such as grasping, clamping, pushing and pulling, pressing, and handling; able to assist in the calibration of coordinate systems, kinematic modeling, and control adaptation for end tools, fixtures, and long-handled tools; experience with end-effector alignment and trajectory correction based on vision or point cloud results is preferred; proficiency in any of the tools MoveIt, Pinocchio, Drake, KDL, RBDL, MuJoCo, or Isaac Sim is preferred.

Track B: Force and Compliance Control

• Understand contact control methods such as force-position mixed control, impedance control, admittance control, and compliance control; be able to assist in judging contact states and adjusting control parameters based on six-axis force sensors, joint torque, current feedback, or tactile information; practical experience in contact operations such as door pushing/pulling, button pressing, tool grasping, and object handling is preferred; able to assist in dealing with issues in real environments such as friction, sticking, rebound, collision, and force control divergence; experience in tuning control parameters and analyzing system stability is preferred.

Track C: Whole-Body Motion and Coordinated Control

• Understand issues related to the whole-body motion control of mobile robots, humanoid robots, quadruped robots, or mobile manipulators; understand theories related to robot center of mass control, balance control, support constraints, joint limits, torque constraints, and posture stability; be able to assist in coordinating the manipulator, torso, waist, lower limbs, or mobile platform to complete complex actions; experience with whole-body motion planning, Whole-Body Control, MPC, QP control, or trajectory optimization is preferred; practical debugging experience with humanoid, quadruped, or mobile manipulation robots is preferred.

Track D: Motion-Control System Integration and On-Site Debugging

• Understand the complete robot control chain and the closed loop from planning commands through controllers and actuators to state feedback; familiarity with actuator and controller interfaces such as EtherCAT, CAN/CAN-FD, serial, UDP, and vendor SDKs is preferred; assist in developing tools for motion-state monitoring, trajectory playback, control logging, fault diagnosis, and safety protection; support on-robot parameter tuning, issue reproduction, log analysis, and performance optimization; experience taking a project from prototype demo to on-site commissioning is preferred.