It's really easy with the Zend Framework to transform text from a format where words are separated by dashes or underscores to another format like camelcase.

$inflector = new Zend_Filter_Inflector(':string'); 

$inflector->addRules(array(':string' => array('Word_UnderscoreToCamelCase')));

echo $inflector->filter(array('string'=>$string));

Running this code where $string = 'hello_world' will echo helloWorld.

Simple!

Thanks to a comment below from Camilo, this can be achieved simpler still:

$filter = new Zend_Filter_Word_UnderscoreToCamelCase();
echo $filter->filter('hello_world');