There has been several threads similar lately. Usually it comes down to working with them. Don't try to pick it up from above it scares the bejebbers out of them. Spend time with you hand in the enclosure. Let it get used to your presence. Put in a piece of your daughter's clothing so it learns her smell. Move in calm confident motion but not to fast. Try hand feeding, silkworms or hornworms are like crack to them. Be careful with these though because once they discover them they may refuse other feeders. At lights out when he is sleepy get him out and set with him. They are more calm when sleepy. Have patience with him, remember we are GIANTS to them.
Oh and another thing when you do pick him up he is probably going to want to bolt, be careful not to let him fall. Maybe keep handling him inside his enclosure till he learns to be more calm. Also don't give up and put him back if he acts bad it reinforces bad behavior, tire him out and when he stops trying to escape put him back then.
They are wonderful pets and i hopes this helps you get him there.