Overview

For software installation, please refer to Teleop_Instruction.

Hardware

All hardware componenents are listed in the BOM

Leader Assembly

Assembly timelapse video link

Note:

• Motor horns should stay in zero position during assembly
• XL330-M288-T motors are used for the joints
• XL330-M077-T motors are used for the grippers
• Motors come with two size of screws: M2x6mm, and M2x8mm.
• M2x6mm screws are used to attach 3D prints to the motor horns.
• M2x8mm screws are to attached 3D prints to motor body

Torso Assembly

Assembly timelapse video link

To-Do

• [✔️] Release assembly guide.

Citation

If you find this code useful in your research, please consider citing:

@INPROCEEDINGS{11203119,
  author={Myers, Noboru and Kwon, Obin and Yamsani, Sankalp and Kim, Joohyung},
  booktitle={2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)}, 
  title={CHILD (Controller for Humanoid Imitation and Live Demonstration): A Whole-Body Humanoid Teleoperation System}, 
  year={2025},
  pages={1-6},
  }