Decoding the IR signals would have been much more difficult without the effort put in by robosapienpet in decoding the RoboSapien V2's IR coding scheme (which is the same as used here). I suggest you check out his website.

The IR signal is a 39.2kHz carrier wave, data is modulated using a space coded signal. Each signal is 12 bits long, and is preceeded by a start pulse that is ~6.66ms (8/1200 of a second). A one is encoded by pausing for ~3.33ms (4/1200 of a second), a zero is encoded by pausing for ~0.833ms (1/1200 of a second). Each pause is followed by a pulse that is ~0.833ms, to seperate the bits.