arXiv:2508.00162cs.RO
CHILD (Controller for Humanoid Imitation and Live Demonstration): a Whole-Body Humanoid Teleoperation System
Early discovery. Linked by one identifiable commenter. This paper is outside the main ranking; a mention is not an endorsement.
Abstract
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.
An academic paper [PDF] describing CHILD, by authors Noboru Myers, Obin Kwon, Sankalp Yamsani, and Joohyung Kim, is scheduled to be presented in Seoul, Korea, in October, at the IEEE RAS HUMANOIDS Conference 2025. (1) (1) https://arxiv.org/pdf/2508.00162 [PDF]
rolphView on HNParent context