All of EMYS’ and FLASH's subsystems can be controlled via ROS (Robot Operating System) (Robot Operating System). Communication with arms, hands and head motors is realized using protocol from the Robotis’ Dynamixel servomotors (dynamixel_motor, dynamixel_controllers), which have their own dedicated ROS node. Head touch sensors utilise the same protocol as motors. Communication with mobile platform utilizes ARIA protocol, which has its own node ROSARIA. Kinect and RGB camera can also be accessed via ROS.
It is possible to launch ROS nodes using urbiscript so the two systems can be used together to get the best of both worlds.