We present an avatar system designed to facilitate the embodiment of humanoid robots by human operators, validated through iCub3, a humanoid developed at the Istituto Italiano di Tecnologia (IIT). More precisely, the contribution of the paper is twofold: first, we present the humanoid iCub3 as a robotic avatar which integrates the latest significant improvements after about fifteen years of development of the iCub series; second, we present a versatile avatar system enabling humans to embody humanoid robots encompassing aspects such as locomotion, manipulation, voice, and face expressions with comprehensive sensory feedback including visual, auditory, haptic, weight, and touch modalities. We validate the system by implementing several avatar architecture instances, each tailored to specific requirements. First, we evaluated the optimized architecture for verbal, non-verbal, and physical interactions with a remote recipient. This testing involved the operator in Genoa and the avatar in the Biennale di Venezia, Venice - about 290 Km away - thus allowing the operator to visit remotely the Italian art exhibition. Second, we evaluated the optimised architecture for recipient physical collaboration and public engagement on-stage, live, at the We Make Future show, a prominent world digital innovation festival. In this instance, the operator was situated in Genoa while the avatar operates in Rimini - about 300 Km away - interacting with a recipient who entrusted the avatar a payload to carry on stage before an audience of approximately 2000 spectators. Third, we present the architecture implemented by the iCub Team for the ANA Avatar XPrize competition.

翻译：我们提出了一套旨在促进人类操作员具身操控人形机器人的化身系统，并通过意大利技术研究院（IIT）开发的人形机器人iCub3进行了验证。更具体而言，本文的贡献有两个方面：首先，我们介绍了人形机器人iCub3作为机器人化身，它集成了iCub系列经过约十五年发展后的最新重大改进；其次，我们提出了一套通用化身系统，使人类能够具身操控人形机器人，涵盖移动、操作、语音和面部表情等方面，并提供包括视觉、听觉、触觉、重量和触摸模态在内的全面感官反馈。我们通过实现多个针对特定需求定制的化身架构实例来验证该系统。首先，我们评估了用于与远程接收者进行语言、非语言和物理交互的优化架构。该测试中操作员位于热那亚，化身位于威尼斯双年展（约290公里外），从而使操作员能够远程参观意大利艺术展。其次，我们评估了用于接收者物理协作和现场舞台公众互动的优化架构，该测试在We Make Future（世界知名数字创新节）现场进行。在此实例中，操作员位于热那亚，化身在里米尼（约300公里外）运行，与一位接收者互动，该接收者委托化身在约2000名观众面前将有效载荷携带至舞台。第三，我们介绍了iCub团队为ANA Avatar XPrize竞赛实现的架构。