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LAC: Linear and Angular Compliance for Humanoid Whole-body Control

arXiv · AI, language, vision and robotics · article · Aug 26, 2026 · UTC

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. First, we synthesize whole-body compliant responses into a large-scale augmented dataset. Sampled force and couple events are imposed on contact frames extracted from human interaction data. At each contact link, the

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