Preprint
Aug 2026
LAC: Linear and Angular Compliance for Humanoid Whole-body Control
LAC is presented, a general whole-body controller that simultaneously realizes commanded Linear and Angular Compliance for wrenches applied to the upper body and monotonic modulation over the full range of both stiffness commands, and applicability to teleoperated loco-manipulation tasks.
Yang Liu, Zhongkai Gu, Wei Zhu et al.
· 2 citations