Something like "Pacific Rim" robots.
In the movie Pacific Rim, giant robots are controlled by 2 pilots, each controlling one brain hemisphere, or something like that, and using their own limbs to move limbs of the robot, but it can be simplified.
One humanoid-shaped robot has a single pilot, (either inside the robot or remotely controlling it), and the robot simply mimics all the moves done by the pilot. If the pilot raises his left arm, the robot does the same, he runs or punches or crouches, the robot mimics the movements. Mimicking the minute movements are not required like twitching your toes or ears or whatever, You get the idea!!
To perform such a feat, the pilot is placed inside a gyro-stabilized, hologram room, in which the surroundings of the robot are pictured in-scale with the pilot, giving an illusion that the monster standing in-front of the monster is present with the pilot and the truck parked on the road is nothing more than a toy at his feet. Of-course when the pilot moves he actually stays stationary at the center of the room, otherwise he will be bumping into the walls.
Yes, He will have to do a lot of practice to keep his humanly movements in sync with the giant robot, but it is worth it and sounds cool.