From linux
cgal:~> ssh darwin@192.168.123.1
darwin@192.168.123.1's password: 111111
Linux darwin 2.6.31-34-fitpc2i-r1 #1 SMP Thu Jun 24 13:53:16 KST 2010 i686
...
darwin@darwin:~$ 

You can get the latest version at below link.
https://sourceforge.net/projects/darwinop/

=====================================
          DARwIn-OP v1.3.0
=====================================
>>> Date: 20 Sep 2011

tutorials
darwin/Linux/project/tutorial

http://support.robotis.com
contactus2@robotis.com

From linux
use
ifconfig
to figure out your own address so you can scp files back.
cgal:~> ifconfig
eth0      Link encap:Ethernet  HWaddr 00:1a:80:f6:58:20  
          inet addr:192.168.123.101  Bcast:192.168.123.255  Mask:255.255.255.0
...