Dyros Robot Controller

Dyros Robot Controller is a versatile C++ control library that implements control algorithms for various types of robots, including mobile robots, manipulators, and mobile manipulators.
It is designed to work seamlessly in both simulation and real-robot environments, enabling rapid development and testing of advanced control strategies. Documentation of the Dyros Robot Controller is available here.

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Key Features

ClearPath Husky	Summit XLS	DYROS PCV

Franka FR3	Universal Robots 5e

Husky FR3	XLS FR3	PCV FR3

Dual FR3	Husky Dual FR3

• Mobile Robots

  • Supports differential drive, mecanum, and caster wheel configurations
  • Provides kinematics-based Forward/Inverse Kinematics

• Manipulators

  • Joint-space position, velocity, and torque control
  • Task-space control using Jacobian-based CLIK (Closed-loop Inverse Kinematics)
  • Dynamic control using OSF (Operational Space Formulation)
  • QP-based controllers that handle constraints (joint limits, velocity, collision avoidance, etc.)

• Mobile Manipulators

  • Whole-body torque-based controller

• Simulation and Real-World Integration

  • Validated in simulation with:
    • Mobile robots: ClearPath Husky, Summit XL, 4-wheel powered caster vehicle
    • Manipulators: Franka FR3, UR5
    • Mobile manipulators: Husky-FR3, XLS-FR3
  • Real robot integration in progress

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Dependencies

• Pinocchio – for kinematics and dynamics computation
• OSQP and OSQP-Eigen – for fast Quadratic Programming solvers
• Eigen3
• eigenpy and Boost.Python – for Python bindings

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Installation

git clone https://github.com/JunHeonYoon/dyros_robot_controller.git
cd dyros_robot_controller
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX:PATH=<custom-folder> ../
make
make install

Add to ~/.bashrc:

export dyros_robot_controller_DIR="<custom-folder>"
export LD_LIBRARY_PATH="$dyros_robot_controller_DIR/lib:$LD_LIBRARY_PATH"

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Applications

dyros_robot_controller serves as a foundation for research and development in robot control, supporting:

• Mobile robot kinematic control
• Advanced manipulator control strategies
• Whole-body control for mobile manipulators

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Examples

In the examples directory, we provide some basic examples of using dyros robot controller in Python and C++. It enables fast prototyping of novel controllers and facilitates seamless integration between simulation and real-world robotics platforms.

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Authors and Affiliation

• Yoon Junheon, Dynamic Robotic Systems Laboratory (DYROS), Seoul National University

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License

Copyright 2026 Electronics and Telecommunications Research Institute (ETRI).

This project was developed by Yoon Junheon at the Dynamic Robotic Systems Laboratory (DYROS), Seoul National University, under a research agreement with ETRI.

This project is licensed under the Apache License, Version 2.0. See LICENSE.