[Isaac501]

We've implemented this using OpenVPN.

Our linux svn server also acts as a DNS/DHCP gateway for the local lan at our build location, as well as providing OpenVPN services.

That said, strict safety precautions should be taken - the robot should be on blocks, and you should never enable the robot with people in the room who don't know it's on. The RSL is NOT sufficient for this.

If you're really good, you'll have a webcam on the local network so you can see if anyone is around the robot, too.