Normally we recommend using one of the pre-made images disk.img, which is Raspbian Jessie underneath. (these are available here https://github.com/tingbot/tingbot-os/releases)
However if you'd like to install Tingbot OS on an existing Raspbian install, it may be possible. We lock to a specific version of libsdl because of a bug that appeared in later versions. That version of SDL is here: https://github.com/tingbot/tingbot-os/raw/master/libsdl1.2debian_1.2.15-5_armhf.deb . Download and dpkg -i that, and it should resolve the above error.