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You can file a Request to Remove the Judge from your case based on prejudice or bias. However, I should note that this is a very hard Motion to have granted unless the Judge consents. It will be very hard to remove a Judge from a case but it can be done, if you cite all the various facts you have to support the request, clearly and concisely.
Many people go before Judge's and wish they had a different Judge, and a lot of times the Judge's don't like the defendants or plaintiff's or it appears that way anyway. If the Judge does remove the child from his custody without the law behind him, then you can always file an appeal of the Judge's ruling.
You should seek legal counsel regarding your custody issue if at all possible.