Hello everyone, I wanted to post a tutorial and or create a WIKI with what should be done one you assembled the Robot and uploaded the default file.
This is the most basic stuff i got. I myself am very new to Arduino/Raspberry when it comes to robotics and general development so any help would be greatly appreciated.
I haven't attached a Raspberry PI nor a camera yet - i have yet to adjust all the servos correctly so it's perfect.. - so i attached Rapiro to my usb port of my computer running windows 7 and I sent the command via the installed arduino IDE.
i'm sure you can mount the raspberry pi and send those commands via ssh.
for further informations, the only link i got for now was this awesome tutorial on raspberry Pi official site
http://www.element14.com/community/community/raspberry-pi/raspberrypi_projects/blog/2014/02/16/rapiro-putting-it-together-and-first-steps

Also this blog was very helpfull here is the part that i edited, but for further information, go to the side. I only aim to make a summary on the basic of the robot.
http://www.locomatrix.com/?tag=rapiro

I found this japanese site, with the help of google translate, i managed to find some very useful informations.
http://make-muda.weblike.jp/2014/03/1114/#more-1114
The default sketch contain all the basics to make the robot a bare minimum of stuff.
If you know about arduino, reading the sketch should let you understand what the robot can do.
Make sure you set arduino IDE with ARDUINO UNO as Rapiro's board is compatible with that.
to access some of the basic commands, simply open the arduino IDE, open the serial monitor window and set the baud to 57600.
on the command line, enter :
#M1 - robot will move forward
#M2 - robot will move backward
#M3 - robot will turn right
#M4 - robot will turn left
#M5 - robot will raise his hand and wave the left hand. LED will become green and flashing
#M6 - robot will lower his left hand. LED will become Yellow
#M7 - robot will move both arm and contract his hands. LED will become Blue
#M8 - robot will wave goodbye with his left arm. LED will become RED.
#M9 - robot will raise its right arm and move its waist. LED will become BLUE
#M0 - robot will go to initial position
CAPS LOCK is important when you input a command via the serial monitor..
Reading through the //Rapiro.ino source code.
Each movement of the preset (# M1 ~ # M9), consists of pattern of 8 frames.
Each frame is defined values ​​uint8_t type sixteen (motion).
This can be changed modifying the number of frame per pattern.MAXFN
Lets take #M0 for example:

uint8_t motion[MAXMN][MAXFN][16]={
{ // 0 Stop
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0,255, 10},
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 0}
},

I put numbers so you can visualy make sense of what a pattern is, and what a frame contain.
Movements consist of pattern. Pattern are made of frames. Each frame contrain the rotation angle of every servo, the values of the RGB LED and a Time to perform the action.

Head horizontal rotation angle (Head yaw) (left) 180 <---> 0 (right)
Hip horizontal rotation angle (Waist yaw) (left) 180 <---> 0 (right)
Right shoulder up and down angle (R Shoulder yaw) (bottom) 0 <---> 180 (above)
Open right shoulder angle (R Shoulder pitch) (closed) 90 <---> 180 (open)
Right hand opening and closing angle (R Hand grip) (closed) 50 <---> 110 (open)
Left shoulder up and down angle (L Shoulder yaw) (bottom) 180 <---> 0 (top)
Open left shoulder angle (L Shoulder pitch) (closed) 90 <-> 0 (open)
Left hand opening and closing angle (L Hand grip) (closed) 130 <---> 70 (open)
Right foot horizontal rotation angle (R Foot yaw) (left) 0 <---> 180 (right)
Twist angle of the right foot ankle (R Foot pitch) () 0 <---> 180 (outside)
Left foot horizontal rotation angle (L Foot yaw) (left) 0 <---> 180 (right)
Twist angle of the left foot ankle (R Foot pitch) (within) 180 <---> 0 (outside)
Red component of the eye (R) 0 <---> 255
Green component of the eye (G) 0 <---> 255
Blue component of the eye (B) 0 <---> 255

Serial Input command accepted the following commands,
"# M" other than, also accepts "# P", "# Q", "# C".

You can see them in the void loop

void loop() {
switch(Serial.read()) {
case 'M'
case 'P'
case 'Q'

Here are some other helpful commands that can be used to control the LED and each servos individually.

//LED CODE sample

#PR000G255B000T010 //MAX GREEN COLOR
R,G,B values between 0 and 255
T is the time component to get to desired color

//LIMBS MOVEMENT
Sxx refers to one of the 12 motors (from S00 to S11),
A000 up to A180 is the angle where to servo incline,
Txxx is the time to perform the movement.
you can combine two commands, i tried more but it didn’t work..

#PS00A000T010#PS00A180T010 - full head movement from side to side
#PS01A000T010#PS01A180T010 - Waist
#PS02A000T010#PS01A180T010 - r Shoulder
#PS03A000T010#PS03A180T010 - r Arm
#PS04A000T010#PS04A180T010 - r HAND
#PS05A000T010#PS05A180T010 - l Shoulder
#PS06A000T010#PS06A180T010 – l Arm
#PS07A000T010#PS07A180T010 – l hand
#PS08A000T010#PS08A180T010 - r Foot yaw
#PS09A000T010#PS09A180T010 - r Foot pitch
#PS10A000T010#PS10A180T010 - l Foot yaw
#PS11A000T010#PS11A180T010 - l Foot pitch

https://docs.google.com/document/d/1frXtqllFRFBZKgjfUq7quw6Wh2Nw5CJ8y_F5vEpnkjA/edit?usp=sharing

Edit : i added the google doc link so you can add comments and i will update the file and post wich as much information that we gather. so please any constuctive comments are welcome!

Edit 2: Added a screen shot of the limbs to servo table