Hello,
I recently released (last night) a free open source program that allows Robosapien robot owners to control their robot from their personal computer, instead of using the included remote control. The name of the software is Robosapien Dance Machine. It is a complete user-friendly GUI based software program that acts as a powerful drag-and-drop based script editor for Robosapien robots. The software is for Robosapien owners that want to make comedy videos or performances, robot dances, or just have more fun with their robot. It is a Windows application, but I will try to make a Linux version in the future.
Currently the software requires one of John Rees's USB UIRT infrared transceivers
The software is being hosted by SourceForge.net, you can find the source code and a standard Windows installation program for the binary application here:
If you would like to see a video I made with the software, you can see The Chrome and Dome show here (warning, the video is very silly!):