Using the Nengo neural simulator, I put together an (extremely) simple example of controlling the vrep poppy robot with a spiking neural network. This was really just to show that Nengo could control poppy. Here's the video of the 'dancing'
I've constructed a series of neural oscillators and hooked them to the 'dancing' motors from the dance example in the tutorial. The necessary Nengo code is in the links.
A fun start