  This paper proposes an architecture for achieving telexistence and
teleoperation of humanoid robots. The architecture combines several
technological set-ups, methodologies, locomotion and manipulation algorithms in
a novel manner, thus building upon and extending works available in literature.
The approach allows a human operator to command and telexist with the robot.
Therefore, in this work we treat aspects pertaining not only to the proposed
architecture structure and implementation, but also the human operator
experience in terms of ability to adapt to the robot and to the architecture.
Also the proprioception aspects and embodiment of the robot are studied through
specific experimental results, which are also treated in a somewhat formal,
albeit high-level manner. Application of the proposed architecture and
experiments incorporating user training and experience are addressed using an
illustrative bipedal humanoid robot, namely the iCub robot.
