Rather than repeating the information, go to the Google Code site that I created for the library:
http://code.google.com/p/webdma/
Demo interface:
http://www.virtualroadside.com/botface/index.html
Its pretty sweet. I'm uploading a video to YouTube right now that shows our robot being driven around using the web interface. Not particularly controllable since I didn't intend for it to be used in that way, but theres no reason one couldn't redo the interface to make that work (its mostly javascript).