The brain of FOBO is an Arduino Uno microcontroller.  Programs to control FOBO are written in C++ and uploaded via a USB cable through the Arduino Development Environment.  Some of the tools for programming FOBO, such as Poser, also have a second application that runs on a computer and communicates with the robot via a USB cable.  These applications were written in C# and developed using Visual Studio 2010.  All of the source code is available for download.