Recent advances in teleoperation have demonstrated robots performing complex manipulation tasks. However, existing works rarely support whole-body joint-level teleoperation for humanoid robots, limiting the diversity of tasks that can be accomplished. This work presents Controller for Humanoid Imitation and Live Demonstration (CHILD), a compact reconfigurable teleoperation system that enables joint level control over humanoid robots. CHILD fits within a standard baby carrier, allowing the operator control over all four limbs, and supports both direct joint mapping for full-body control and loco-manipulation. Adaptive force feedback is incorporated to enhance operator experience and prevent unsafe joint movements. We validate the capabilities of this system by conducting loco-manipulation and full-body control demonstrations on a humanoid robot and multiple dual-arm systems. Lastly, we open-source the design of the hardware promoting accessibility and reproducibility. Additional details and open-source information are available at our project website: https://uiuckimlab.github.io/CHILD-pages.
@article{arxiv.2508.00162,
title = {CHILD (Controller for Humanoid Imitation and Live Demonstration): a Whole-Body Humanoid Teleoperation System},
author = {Noboru Myers and Obin Kwon and Sankalp Yamsani and Joohyung Kim},
journal= {arXiv preprint arXiv:2508.00162},
year = {2025}
}
Comments
2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)