Wegen meinem Museums Roboter von 1995 musst du nicht nachdenken.
Auf dem ist das RealTime-MultiTask-OS Interactive C. Das ist ein PCode Interpreter. Von den ersten Versionen konnte man noch den ASM-Source ziehen.

"Rug Warrior". The robot was originally developed at the Massachusetts Institute of Technology (MIT) for use in robotics courses.
Inspiration to Implementation was first published in 1993. It became an immediate best seller in the field of hobby robotics. In 1994 the Rug Warrior kits were made available to the public and they became the number one best selling kits ever.