A while ago I helped develop iSpike - http://ispike.sourceforge.net/, which is a...

A while ago I helped develop iSpike - http://ispike.sourceforge.net/, which is an interface between the iCub robot (http://www.icub.org/) and a Spiking Neural Network simulator (We used SpikeStream - http://spikestream.sourceforge.net/)

The coolest part is that there exists a pretty complete simulator for the iCub robot that anyone who is interested can run on their computer - http://eris.liralab.it/wiki/Simulator_README