I downloaded a copy of Wataru Yoshizaki's V-SIDO robot operating system. (alpha version 0.42) The documentation is in japanese but I managed to run the simulator by:
double click on v-sido 0.42 file
double click on bin
double click on vsido application
click on 1: ######## box
click on OK box
click on various green buttons on simulated robot moving it around
This worked fine. If a real robot is interfaced to your computer it is supposed to do whatever you make the simulated robot do. I don't own an ASRA C1 so I couldn't check that out.