CHILD (Controller for Humanoid Imitation and Live Demonstration): a Whole-Body Humanoid Teleoperation System
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2025
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866914053359665152 |
|---|---|
| author | Myers, Noboru Kwon, Obin Yamsani, Sankalp Kim, Joohyung |
| author_facet | Myers, Noboru Kwon, Obin Yamsani, Sankalp Kim, Joohyung |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_00162 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | CHILD (Controller for Humanoid Imitation and Live Demonstration): a Whole-Body Humanoid Teleoperation System Myers, Noboru Kwon, Obin Yamsani, Sankalp Kim, Joohyung Robotics 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. |
| title | CHILD (Controller for Humanoid Imitation and Live Demonstration): a Whole-Body Humanoid Teleoperation System |
| topic | Robotics |
| url | https://arxiv.org/abs/2508.00162 |