So ist das Timing.
Funktioniert bei mir tadellos.
Noch die Einstellungen für einen Atmega32 mit 8mhz bei mir :
DDRD|=(1<<PD5);
PORTB=0;
OCR1A=101;
TCCR1B=(1<<WGM12)|(1<<CS10);
TCCR1A=(1<<COM1A1);

Code:
void ir_command(uint8_t command)
{
	uint8_t mask;

	TCCR1A=(1<<COM1A0);
	delay_us(6666);
	TCCR1A=(1<<COM1A1);

	for (mask=0x80; mask>0; mask=mask>>1 )
	{
		if ( command & mask )
			{
			delay_us(3333);
			TCCR1A=(1<<COM1A0);
			delay_us(833);
			TCCR1A=(1<<COM1A1);
			}
			else
			{
			delay_us(833);
			TCCR1A=(1<<COM1A0);
			delay_us(833);
			TCCR1A=(1<<COM1A1);
			}
	}
}
das sind die Befehle:


Red Commands:
=============
(Page P.7)
81 (129) - Right Arm Up
84 (132) - Right Arm Down
85 (133) - Right Arm In
82 (130) - Right Arm Out
83 (131) - Tilt Body Right

89 (137) - Left Arm Up
8C (140) - Left Arm down
8D (141) - Left Arm In
8A (13 - Left Arm Out
8B (139) - Tilt Body Left

(Page P.
80 (12 - Turn Right
88 (136) - Turn Left
86 (134) - Walk Forward
87 (135) - Walk Backward
8E (142) - Stop

92 (146) - Right Sensor Program
94 (14 - Sonic Sensor Program
93 (147) - Left Sensor Program
90 (144) - Master Command Program
91 (145) - Program Play

Green Commands:
===============
(Page P.9)
A1 (161) - Right Hand Thump
A4 (164) - Right Hand Pickup
A5 (165) - Lean Backward
A2 (162) - Right Hand Throw
A3 (163) - Sleep

A9 (169) - Left Hand Thump
Ac (172) - Left Hand Pickup
AD (173) - Lean Forward
AA (170) - Left Hand Throw
AB (171) - Listen

(Page P.10)
A0 (160) - Right Turn Step
A8 (16 - Left Turn Step
A6 (166) - Forward Step
A7 (167) - Backward Step
AE (174) - Reset

B2 (17 - Right Sensor Program Execute
B4 (180) - Sonic Sensor Program Execute
B3 (179) - Left Sensor Program Execute
B0 (176) - Master Command Program Execute
B1 (177) - Wake Up

Orange Commands:
================
(Page P.11)
C1 (193) - Right Hand Sweep
C4 (196) - High 5
C5 (197) - Right Hand Strike 1
C2 (194) - Burp
C3 (195) - Right Hand Strike 2

C9 (201) - Left Hand Sweep
CC (204) - Talk Back
CD (205) - Left Hand Strike 1
CA (202) - Whistle
CB (203) - Left Hand Strike 2

(Page P.12)
C0 (192) - Right Hand Strike 3
C8 (200) - Left Hand Strike 3
C6 (19 - Bulldozer
C7 (199) - Opps!
CE (206) - Roar

D2 (210) - Demo 1
D4 (212) - Dance
D3 (211) - Demo 2
D0 (20 - All Demo
D1 (209) - Power Off