I was working over at BugLabs in the summer of '09 and rigged up my BRAT biped robot to work with the BugBase. The setup is as follows:
BugBase is connected to a VonHippel Module and the VonHippel is outputting UART to a custom servo controller I rigged up. The servo controller takes in the serial string and controls a servo accordingly. All programming was done in Python in the BUGbase , and the custom servo controller is an XMega running C code.

Download the Python code that runs on the BUGbase from here: Python Code

Download the Xmega Servo Controller code from here: XMega 14 Servo Controller Code