I had previously seen how to hack these by using an IR transmitter and LIRC, but this meant externally mounting the hardware and I wanted this to be a more subtle hack.
It took me a while, but I finally got round to working out how to hack it. There were two possible approaches
Tap into the Infra-red signal line and fake the remote control
Completely replace the main circuit board and control the motors and sensors directly.
I opted for the first option as it is less of a hardware headache. Option 2 would require handling 7 motors with 4 h-bridges, along with a number of switches to detect maximum movement as well as “bumps” on feet and fingers, so that’s a project for another day!
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