dyros_robot_controller

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dyros_robot_controller

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Robot Controller for various robot models

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# 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](https://junheonyoon.github.io/dyros_robot_controller/).

---

## Key Features
| ClearPath Husky                     | Summit XLS                      |DYROS PCV                    |
| ----------------------------------- | ------------------------------- |---------------------------- |
| ![husky_model](https://raw.githubusercontent.com/JunHeonYoon/dyros_robot_controller/main/imgs/husky.gif)      | ![xls_model](https://raw.githubusercontent.com/JunHeonYoon/dyros_robot_controller/main/imgs/xls.gif)      |![pcv_model](https://raw.githubusercontent.com/JunHeonYoon/dyros_robot_controller/main/imgs/pcv.gif)   |

| Franka FR3                     | Universal Robots 5e             |
| ------------------------------ | ------------------------------- |
| ![fr3_model](https://raw.githubusercontent.com/JunHeonYoon/dyros_robot_controller/main/imgs/fr3.gif)     | ![xls_model](https://raw.githubusercontent.com/JunHeonYoon/dyros_robot_controller/main/imgs/ur5.gif)      |

| Husky FR3                              | XLS FR3                             | PCV FR3                             |
| -------------------------------------- | ----------------------------------- | ----------------------------------- |
| ![fr3_husky_model](https://raw.githubusercontent.com/JunHeonYoon/dyros_robot_controller/main/imgs/fr3_husky.gif) | ![fr3_xls_model](https://raw.githubusercontent.com/JunHeonYoon/dyros_robot_controller/main/imgs/fr3_xls.gif)  | ![fr3_pcv_model](https://raw.githubusercontent.com/JunHeonYoon/dyros_robot_controller/main/imgs/fr3_pcv.gif)  |

| Dual FR3                             | Husky Dual FR3                                   |
| ------------------------------------ | ------------------------------------------------ |
| ![dual_fr3_model](https://raw.githubusercontent.com/JunHeonYoon/dyros_robot_controller/main/imgs/dual_fr3.gif) | ![dual_fr3_husky_model](https://raw.githubusercontent.com/JunHeonYoon/dyros_robot_controller/main/imgs/dual_fr3_husky.gif) |

- **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

---

## Dependencies

- [Pinocchio](https://github.com/stack-of-tasks/pinocchio) – for kinematics and dynamics computation  
- [OSQP](https://osqp.org/) and [OSQP-Eigen](https://github.com/robotology/osqp-eigen) – for fast Quadratic Programming solvers  
- [Eigen3](https://eigen.tuxfamily.org/)  
- [eigenpy](https://github.com/stack-of-tasks/eigenpy) and Boost.Python – for Python bindings

---
## Installation

```bash
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`:

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

## 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
- ---

## Examples

In the [examples](https://github.com/JunHeonYoon/dyros_robot_controller/tree/main/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.

---

## Authors and Affiliation

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

---
## License

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](LICENSE).

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