This manuscript describes in detail the development of an avatar robot for human companion tasks. The mobile robot embodies a remote human to have communications with other human while walking in close proximity to the mobile robot. The robot takes the role of a physical interface to deploy mobility, sensors and telepresence with personification throughout some behaviours of the remote human. Behaviours are conveyed through commands from a mouse/joystick and a EEG-based BRI. We discuss the aim of this work, as well as the tele-system architecture. Both the mobile robot featuring avatar capabilities, and the BRI are discussed. The system concept is also described and we report implementations and experimental results.