The goal of this project is to achieve real-time control of a Humanoid Robot under linux. In order to achieve this goal we are incorporating Xenomai, a real-time development framework with the linux kernel. Xenomai provides real-time support to user space applications and is usable for building a custom real-time interface. Previously, control of the Humanoid Robot was conducted using a Windows Operating System. However, lack of a real-time system lead to communication errors, specifically in regard to data transfer rates. The incorporation of a linux system should fix these errors. The project will also involve porting existing code which will be modified based on user requests.