On January 24, 2011, a software developer team at Bonn-Rhein-Sieg University of Applied Sciences lead by Ph.D. student Jan Paulus has released a first version of an open source youBot application programming interface (youBot API). The work is a byproduct of the work that the research team is doing within the European project BRICS - Best Practice in Robotics. The youBot API allows the users to program the youBot in joint space.
The software which is still under development is available over
https://github.com/youbot/.