Radio controlling the SSC-32 Servo Controller?

I am planning on making a RC humanoid robot (like the ones in the kung fu competition at robogames), and I am probably going to use the SCC - 32 Servo Controller.  I am pretty sure that you can use a ps2 remote to control it, but on the robogames website it says that they want you to use a PCM controller.  How would I connect a PCM controller to the board?  Also is it even possible?  If it is not then would the controller that the robonova uses work with a PCM controller?

Thanks in Advance!