Sending IR signals to Robosapien using Arduino
A bit time of 833 &micro;s implies a data rate of 1200 bps. I don't know anything about Robosapien, but my first thought is that this signal is possibly meant to be the keying (envelope) imposed on a higher-frequency (e.g., 38 kHz) IR carrier signal.

Can you provide a link to the K. Smith article for reference?