At Rhoda AI, we're building the full-stack foundation for the next generation of humanoid robots — from high-performance, software-defined hardware to the foundational models and video world models that control it. Our robots are designed to be generalists capable of operating in complex, real-world environments and handling scenarios unseen in training. We work at the intersection of large-scale learning, robotics, and systems, with a research team that includes researchers from Stanford, Berkeley, Harvard, and beyond. We're not building a feature; we're building a new computing platform for physical work — and with over $400M raised, we're investing aggressively in the R&D, hardware development, and manufacturing scale-up to make that a reality.
You will own the development of Rhoda's low-level firmware stack for distributed real-time control across humanoid platforms. This role centers on deterministic communication, control-loop synchronization, and embedded software robustness in an EtherCAT environment spanning dozens of joints, sensors, and distributed controllers. You will design, implement, and validate firmware components that guarantee sub-millisecond coordination between motor drivers, safety controllers, and perception nodes — bridging the mechanical, electrical, and control domains.
This role is a Senior MTS reporting directly to the VP of Hardware Engineering, with a clear path to grow into a managerial role as the firmware and controls team scales.
What You'll Do
Select and tune RTOS; define priorities and scheduling; optimize interrupt and DMA paths; harden watchdogs and recovery; measure and guard timing budgets
Design, implement, and maintain low-level firmware for real-time motion control nodes over EtherCAT
Develop synchronization and communication layers ensuring deterministic cycle times (<1ms)
Configure and optimize EtherCAT masters and slaves (distributed clocks, mailbox protocols, PDO mapping)
Implement real-time safety mechanisms (Safe Torque Off, watchdogs, and heartbeat monitoring)
Collaborate with Electronics, Controls, and Systems teams to define timing budgets and data interfaces
Contribute to the architecture of the hardware abstraction layer (HAL) and firmware APIs for actuator control
Develop unit, HIL, and integration tests for firmware validation
Profile and optimize ISR and DMA paths to minimize latency and jitter
Support bring-up and debugging of custom actuator controllers and sensor boards
Document firmware architecture, test results, and safety compliance evidence for design reviews
What We're Looking For
Bachelor's or higher in Electrical Engineering, Computer Engineering, or Robotics
8+ years of experience in embedded firmware development for real-time control systems
Strong expertise with EtherCAT protocol stack implementation and configuration (SOEM, Acontis, or similar)
Deep understanding of MCU architectures (ARM Cortex-M, RISC-V, or DSPs) and RTOS environments (FreeRTOS, Zephyr, or equivalent)
Proficiency in C/C++ and experience with low-level debugging (JTAG, logic analyzers, oscilloscopes)
Knowledge of motor control loops (current/velocity/position), FOC, and synchronization with external clocks
Familiarity with SPI, I²C, UART, PWM, ADC, and sensor interface design
Demonstrated ability to write reliable, well-structured, and maintainable embedded code in safety-critical environments
Evidence of shipping real-time-critical products
Nice to Have (But Not Required)
Experience developing firmware for humanoid or collaborative robots with distributed actuation
Familiarity with Safety-over-EtherCAT (FSoE) and functional safety standards (IEC 61508, ISO 13849)
Experience with FPGA-based EtherCAT co-processors and network timing synchronization (PTP, TSN)
Knowledge of hardware design constraints (signal integrity, EMC, power distribution)
Safety-related firmware and fieldbus timing experience; DDS experience; formal methods or static analysis exposure
Contributions to open-source EtherCAT or real-time frameworks
Why This Role
Own the firmware layer that makes whole-body humanoid control possible — your work sets the timing and reliability floor that everything else in the robot stack depends on
One of the deepest and most technically demanding embedded roles in physical AI, operating at the intersection of real-time systems, distributed control, and cutting-edge robotics hardware
Clear path from individual contributor to engineering leadership as Rhoda scales its firmware and controls organization
