A robotics group in Bratislava has developed a PC based remote control for the Robosapien that uses the Lego Mindstorms RCX IR tower as the transmitter. They include some detail about the development and debugging process, go over the scripting functions, and have been kind enough to include a download link to the software.
“In order to steer the robot from the PC, one needs to send infrared control signals to the robot. LEGO RCX infrared tower connected to a serial port is a device capable of doing it. It emits the IR light according to the state on the TxD pin of the serial port. Thus knowing the protocol of the Robosapien IR communication, we could easily write a program that sends the control commands to the robot.”