Urbi is a great, parallel, event driven language for programming robots.

Watch the tutorial video.

Absolutely packed with interesting control structures to handle the implicit parallelism and event-driven nature of the language. Several important ideas : free subsumption architecture (you actually run many different programs in parallel, each dealing with certain motors and sensors, but interacting with each other only through the body of the robot; "blending" modes which let different programs send multiple instructions to the same motor at the same time; "tags" which let you interact with (start, pause, stop) running processes by name.