You can get the latest version at below link.

https://sourceforge.net/projects/darwinop/
for more information on Webots visit
http://www.cyberbotics.com
=====================================
DARwIn-OP v1.6.0
=====================================
>>> Date: 11 Apr 2013
>>> New functionality/features
* Webots controller can be compiled into DARwin-OP.
* DARwIn-OP can be controller from Webots GUI.
* MX28.cpp, Camera.cpp added to ensure compatibility with Webots.
>>> Changes
* CM730, Image, Imgprocess, LinuxCamera, JointData, Action, Kinematics added
Webots functionality
* MX28.h values now reside in MX28.cpp
* Camera.h values now reside in Camera.cpp
>>> Bug fixes
* None.

=====================================
DARwIn-OP v1.5.1
=====================================
>>> Date: 20 Feb 2013
>>> New functionality/features
* None.
>>> Changes
* Apply offset to walk_tuner, action_editor, roboplus, tutorial/action_scrip
t, tutorial/ball_following, tutorial/fsr, tutorial/head_tracking
* [Bug ID : #3542648] fixed the uninitialized value error.
>>> Bug fixes
* None.

=====================================
DARwIn-OP v1.5.0
=====================================
>>> Date: 19 Mar 2012
>>> New functionality/features
* FSR tutorial has been added.
* FSR firmware added.
>>> Changes
* LinuxMotionTimer has been changed to use clock_nanosleep function.
>>> Bug fixes
* None.

=====================================
DARwIn-OP v1.4.0
=====================================
>>> Date: 16 Jan 2012
>>> New functionality/features
* None.
>>> Changes
* MX-28 firmware updated.
* Stand-up motion changed.
>>> Bug fixes
* Cannot change the camera gain/exposure value from a web page bug fixed.
* offset tuner 'set' command bug fixed.

=====================================
DARwIn-OP v1.3.0
=====================================
>>> Date: 20 Sep 2011
>>> New functionality/features
* offset_tuner added.
* walk_tuner web page added.
>>> Changes
* CM-730 firmware updated.
* roboplus support 4096 resolution(MX-28 firmware ver 27 or higher).

* dxl_monitor : can change baudrate (control table addr 4)

* Get-up motion changed.
* read_write tutorial : left arm P gain value changed. (1 -> 8)
>>> Bug fixes
* None.

=====================================
DARwIn-OP v1.2.0
=====================================
>>> Date: 01 Jun 2011
>>> New functionality/features
* BulkRead instruction added.
* Support FSR sensor.
>>> Changes
*
*
*
*
*
*

Actuator Model name changed (RX-28M -> MX-28)

MX-28 firmware updated.
dxl_monitor : can change ID (control table addr 3)
Get-up motion changed.
Sensor calibration routine changed. (use standard deviation)
demo & walk_tuner share the config.ini file. (/darwin/Data/config.ini)

>>> Bug fixes

* action_editor : command line bug fixed. (can't input space or number)
linux terminal backspace bug fixed.
* walk_tuner : linux terminal backspace bug fixed.
* read_write : at the start, torque off the right arm.
* firmware installer : seperate firmware of the controller and actuator

=====================================
DARwIn-OP v1.1.0
=====================================
>>> Date: 8 Apr 2011
>>> New functionality/features
* firmware_installer : CM-730 & RX-28M firmware installer
* CM-730 : Low battery alert added.
>>> Changes
* RX-28M resolution changed from 1024 to 4096.
>>> Bug fixes

* Action class : type casting bug fixed.

* dxl_monitor : CM-730 control table dump bug fixed.
* action_editor : command line first char backspace bug fixed.
save command bug fixed.
* walk_tuner : command line first char backspace bug fixed.
* some minor bug fixed.

=====================================
DARwIn-OP v1.0.1
=====================================
>>> Date: 28 Mar 2011
>>> Changes
*
*
*
*

LinuxCM730 : Move semaphore init code to constructor

action_script : Stand-up motion page number changed from 16 to 1.
demo : at the start of soccer mode, reset the gyro sensor calibration
Some walking parameters changed.

>>> Bug fixes

* action_editor : page 255 access problem fixed.
* Walking : Y move amplitude bug fixed.

=====================================
DARwIn-OP v1.0.0
=====================================
>>> Date: 1 Feb 2011
>>> New functionality/features
* First released.
>>> Changes
* First released.
>>> Bug fixes
* First released.