Senior Software Engineer

2 days ago

Singapore HIVEBOTICS PTE. LTD. Full time

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)

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