  Most human-robot interfaces, such as joysticks and keyboards, require
training and constant cognitive effort and provide a limited degree of
awareness of the robots state and its environment. Embodied interactions,
instead of interfaces, could bridge the gap between humans and robots, allowing
humans to naturally perceive and act through a distal robotic body.
Establishing an embodied interaction and mapping human movements and a
non-anthropomorphic robot is particularly challenging. In this paper, we
describe a natural and immersive embodied interaction that allows users to
control and experience drone flight with their own bodies. The setup uses a
commercial flight simulator that tracks hand movements and provides haptic and
visual feedback. The paper discusses how to integrate the simulator with a real
drone, how to map body movement with drone motion, and how the resulting
embodied interaction provides a more natural and immersive flight experience to
unskilled users with respect to a conventional RC remote controller.
