[plt-scheme] Programming the AIBO in Scheme?

Does anybody have any libraries and/or manuals for programming the AIBO robot in Scheme (preferably PLT-Scheme?  Sony's OPENR-SDK is C++-based, but I would rather use Scheme than C++.

A Google search came up with the following semi-relevant pages, none of which seem helpful enough to start programming the AIBO in Scheme:

Using Robots in Beginning Computer Science Courses
http://www-users.cs.umn.edu/~gini/aibo.html

Extending the Next Generation Robot Laboratory to Increase Diversity in Undergraduate CS Programs - Courses:
http://faculty.berea.edu/pearcej/aibo/courses.html

Extending the Next Generation Robot Laboratory to Increase Diversity in Undergraduate CS Programs - Publications:
http://faculty.berea.edu/pearcej/aibo/publications.html

M. Gini, J. Pearce, and K. Sutherland. "Using the Sony AIBOs to Increase Diversity in Undergraduate CS Programs," in theProc. of the Conference on Intelligent Autonomous Systems, IAS-9, Japan (March 2006) pp 1033-1040:
http://faculty.berea.edu/pearcej/aibo/IAS.pdf

M. Gini, J. Pearce, and K. Sutherland." Extending the Next Generation Robot Laboratory to Increase Diversity in Undergraduate CS Programs," NSF CCLI Showcase, SigCSE 2006, Houston, TX (March 2006):
http://faculty.berea.edu/pearcej/aibo/SigSCE-06.ppt

aibo_scheme_reference [AIBOs for Teaching CS - Wiki]:
http://www-users.itlabs.umn.edu/classes/Spring-2007/csci1901/aibo.html

U of M IofT 1910w: Robot Pets: AIBO Sources:
http://www-users.itlabs.umn.edu/classes/Fall-2006/ioft1910/sources.html

Any leads would be greatly appreciated.

Benjamin L. Russell