Each word in the 4-word AES round keys is computed as w[i] = Mangle(w[i - 1]) xor w[i - 4], where Mangle(x) = Subword(Rotword(x)) xor Rcon for i%4=0 and Mangle(x) = x otherwise.
Just turn that around and you get w[i - 4] = w[i] xor Mangle(w[i - 1]). Now start with i = 43 (i.e., w[i] is the last word of the last round key) and count backwards, filling in words of the round keys until you get to w[0]. Then w[0..3] is the AES key.
