Senior Robotics Controls Engineer – Unitree G1 Humanoid Motion, Stability & Recovery

I have a Unitree G1 EDU humanoid running a custom BrainOS system. I need an experienced robotics controls engineer to help make custom upper-body gestures reliable, smooth and repeatable while the robot is free-standing. The current system already has extensive telemetry, hard velocity/joint safety rails, motion playback, recovery logic, ownership handling and automated regression tests. The main work is now control engineering rather than general software development: smooth transition from Unitree/passive control into custom arm control impedance/PD gain and authority handoff trajectory entry/exit and neutral recovery avoiding transient joint velocity spikes maintaining balance during expressive upper-body motion robust recovery after interruptions or disturbances analysing real joint/IMU telemetry and improving the controller based on evidence Current stack includes Unitree G1 EDU, Unitree SDK2, C++, DDS/CycloneDDS, Python and Node.js. I am specifically looking for someone who has worked on real humanoids or torque/position-controlled robots, ideally Unitree G1/H1. Please do not apply if your experience is mainly simulation, ROS tutorials, LLMs or web development. In your proposal, please tell me: Which Unitree or humanoid robots you have physically worked on. Whether you have implemented impedance/PD control and controller handoffs on real hardware. Your experience diagnosing joint velocity transients, trajectory tracking and balance interaction. What you would inspect first in an existing G1 control stack like this. Whether you are comfortable working directly with logs, C++ control code and live robot testing. One thing I’d be strict about: don’t hire someone whose main pitch is “I know ROS and Python.” You need someone who understands what happens when a real servo suddenly acquires stiffness and authority on a standing humanoid. That distinction matters a lot for where Eric is currently stuck.