LAC: Linear and Angular Compliance for Humanoid Whole-body Control
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2608.25405v1 Announce Type: new Abstract: Real-world humanoid tasks involve physical interaction with objects and humans, yet current controllers either reject external forces as disturbances or restrict compliance to limited body links while ignoring angular effects. We present LAC, a general whole-body controller that simultaneously realizes commanded Linear and Angular Compliance for wrenches applied to the upper body.