how can I edit an action without CM-5

[cug_Luker]

help!
i use RB110,the problem is ,how can I use bioloid robot servos(AX-12)to edit an action,.I do not have the AX-12 dedicated controller---the CM5.so,i can't use roboplus,right??
I can move single servo with my ideas..But how can let robot , for example, walk???Can anyone tell me???ROIO library only tell me how to deal with a single servo.....
do i need to
please help!