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The main objective of this thesis is to create an effective and modular platform to prepare the Humanoid Project of the University of Aveiro (PHUA) for tele-kinesthethic teaching. This new concept of robot learning from demonstration is now the base of this project, where a human user tele-operates the robot in various motion and balance tasks. The data gathered during this demonstrations can be used in learning algorithms so the robot can move, balance and walk on it’s own. The robot used in this work is a 27-DOF proprietary humanoid platform developed completely at the University of Aveiro. Several demonstrations are carried out using sensory data from the load cells installed in the robot’s feet and an haptic device for user interface. Four cells are placed in each foot giving the robot the ability to sense the floor and to estimate the center of pressure. A unit for data acquisition was developed to measure the load cells signals. This unit is capable of reading the cells and transmitting that information at a frequency over 1000 Hz allowing for a nearly continuous stream of information. The force information from the feet is then used to generate the force feedback in the haptic device which is felt by the human as the robot's sense of balance. The ROS platform is used to control the different modules of software using it’s message system to communicate among them, giving this project several tools for further development.