iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots.

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. More precisely, the paper makes two contributions: First, we present the humanoid iCub3 as a robotic avatar that integrates the latest significant improvements after about 15 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 facial expressions with comprehensive sensory feedback including visual, auditory, haptic, weight, and touch modalities.

Modeling and Calibration of Pressure-Sensing Insoles via a New Plenum-Based Chamber.

This paper proposes a novel method to reliably calibrate a pair of sensorized insoles utilizing an array of capacitive tactile pixels (). A new calibration setup is introduced that is scalable and suitable for multiple kinds of wearable sensors and a procedure for the simultaneous calibration of each of the sensors in the insoles is presented. The calibration relies on a two-step optimization algorithm that, firstly, enables determination of a relevant set of mathematical models based on the instantaneous measurement of the taxels alone, and, then, expands these models to include the relevant portion of the time history of the system.