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. We validated the system by implementing several avatar architecture instances, each tailored to specific requirements. First, we evaluated the optimized architecture for verbal, nonverbal, 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 kilometers away-thus allowing the operator to visit the Italian art exhibition remotely. Second, we evaluated the optimized 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 operated in Rimini-about 300 kilometers away-interacting with a recipient who entrusted the avatar with 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 All Nippon Airways (ANA) Avatar XPrize competition.

A Novel Sensorised Insole for Sensing Feet Pressure Distributions

Wearable sensors are gaining in popularity because they enable outdoor experimental monitoring. This paper presents a cost-effective sensorised insole based on a mesh of tactile capacitive sensors. Each sensor's spatial resolution is about 4 taxels/cm 2 in order to have an accurate reconstruction of the contact pressure distribution. As a consequence, the insole provides information such as contact forces, moments, and centre of pressure. To retrieve this information, a calibration technique that fuses measurements from a vacuum chamber and shoes equipped with force/torque sensors is proposed. The validation analysis shows that the best performance achieved a root mean square error (RMSE) of about 7 N for the contact forces and 2 N m for the contact moments when using the force/torque shoe data as ground truth. Thus, the insole may be an alternative to force/torque sensors for certain applications, with a considerably more cost-effective and less invasive hardware.

Anatomy and chromosomes of two intersexual dasyurid marsupials

The intersexual phenotypes of marsupials with XXY and XO chromosome constitutions imply that not all sexual dimorphisms are under the control of testicular hormones and, ultimately, the SRY gene on the Y chromosome. It has been hypothesised that there is a gene on the X chromosome that determines whether either a scrotum will form (one copy of the gene) or a pouch with teats (two copies of the gene). Here, we describe the anatomy and chromosomes of two intersexual dasyurid marsupials. One, a Dasyuroides byrnei, had a pouch, but the reproductive tract was essentially male. The other, a Sminthopsis douglasi, had a hemipouch and a hemiscrotum and the reproductive tract was essentially female. The S. douglasi was a mosaic for cells with an apparently normal 2n = 14, XX female karyotype and cells with 2n = 14 plus (usually) two dot-like supernumerary elements 2n = 14, XX + 2B. The D. byrnei cells examined also had a 2n = 14, XX + 2B karyotype. In fibroblasts from the male and female sides of the S. douglasi, it was possible to assign the 2n = 14, XX karyotype to the male side and the 2n = 14, XX + 2B to the female side.

Comparative chromosome painting between marsupial orders: relationships with a 2n = 14 ancestral marsupial karyotype

A 2n = 14 karyotype is shared by some species in each of the marsupial orders in Australian and American superfamilies, suggesting that the ancestral marsupial chromosome complement was 2n = 14. We have used chromosome painting between distantly related marsupial species to discover whether genome arrangements in 2n = 14 species in two Australian orders support this hypothesis. Cross-species chromosome painting was used to investigate chromosome rearrangements between a macropodid species Macropus eugenii (2n = 16) and a wombat species in a different suborder (Lasiorhinus latifrons, 2n = 14), and a dasyurid species in a different order (Sminthopsis macroura, 2n = 14). We demonstrate that many chromosome regions are conserved between all three species, and deduce how the similar 2n = 14 karyotypes of species in the two orders are related to a common ancestral 2n = 14 karyotype.