In the past few years, we have covered plenty of fun research projects that involve the iCub robot. Mohamed Elobaid, Yue Hu, Jan Babic, and Daniele Pucci have put together a paper that discusses an architecture for teleexistence and teleoperation for such a robot.
This approach allows humans to command the robot remotely. For instance, as the operator walks, the robot tries to keep up. The operator can see what the robot sees with goggles.