While poking around for Skype on RPi info, I also checked Google Talk. It seems that video encoding is beyond the modest capabilities of the RPi, but there's already a voice application ported to the RPi called Incredible PBX. There are a couple versions of this software for the RPi: Incredible Pi and RasPBX. The original version of Incredible PBX used Google Voice to provide the phone number; I haven't checked into it enough to know if that's still the case.
Incidentally, Google has a page for developers on Talk, which includes information about how it uses XMPP and their extensions for voice.
As an aside, the Google Talk dev page links to the XMPP extensions page, which has proposals for IoT applications including sensors and such.
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