If you want to control an Aseba-Robot from a headless system, such as a raspberry pi, you can do that with asebamedulla and a Python script, possibly inheriting from the example Aseba client provided on github (beware, the example run of the script did not work for me, because of the with-Statement).
However, running asebamedulla on a headless system means, that no dbus session bus is present and the dbus autolaunch of the client script will fail. To fix this, include
in your script that starts asebamedulla and then your client script. In the Aseba forum I could only find the solution to simply boot up the graphical desktop environment, which creates unnecessary overhead.