To enable easy interfacing for humans as well as machines, a command line interface has been used.  The Arduino-CommandLine library has been used.

Below you can find a capture of a command line session with the RoboSapien:

Welcome to minicom 2.7

OPTIONS: I18n 
Compiled on Feb  7 2016, 13:37:27.
Port /dev/ttyACM0, 18:02:16

Press CTRL-A Z for help on special keys                 
                                                        
>                                                      
> action 196                                            
> action 197
> action 198
> audio 0                                                                       
> action 198                                                                    
> action 197                                                                    
> action 197                                                                    
> action 196                                                                    
> action 195                                                                    
> audio 1                                                                       
> 

Commands

Two commands are implemented "action" and "audio".  

The "action" command executes one of the Robosapien standard actions.  On a standard Robosapien, you would have used the remote to start these actions.  A list of actions can be found in the source code of the RS wedge.

The "audio" command switches the Robosapien's audio source : "0" selects the audio jack as source, which allows the connected laptop to route speech or music to the Robosapien.  "1" selects the Robosapien controller as source.