Tekkotsu

  "Tekkotsu" means "iron bones" in Japanese, often used in the context of buildings' structural framework.
   Similarly, this software package aims to give you a structure on which to build.

  Tekkotsu is an application framework for robotic platforms.  
  An application framework is code which handles the low level or routine tasks for you, 
  so that you can concentrate on whatever is unique to your application.  
  If you are looking to program your Aibo to do new things, and are comfortable with C++, this may be for you.

  Tekkotsu has been developed on the AIBO.  It has been designed with portability in mind, 
  and currently runs on the ERS-210, ERS-220, and ERS-7.  
  Other platforms, such as Sony's upcoming Qrio humanoid, will hopefully be supported with minor modification.
  Since it is strange to say that a robot, particularly one modeled after an animal, is running an application,
  we call them behaviors.  However, many of the same concepts apply.

  Tekkotsu is an object oriented and event passing architecture, similar in design to Java.  
  Events and class interfaces make it a snap to add new functionality, 
  because you don't have to edit the framework to add hooks to your code.  
  If you had to add hooks within the framework, there are two major problems.  
  First, you need to know the place(s!) to add the calls to your code, and second, 
  this will quickly cause a mess of spaghetti code. 
  This architecture avoids both of those problems by and allowing you to request specific events anywhere in your own code,
  so you don't need to learn the internals of the framework or modify it.

Originally from http://www.tekkotsu.org

Visit the link above for more information