Mecanim movement on asteroids?

Ok, I have gravity pulling me to my asteroids, I have mecanim animating my character, and I am lerping my up to the opposite of gravity.

All of this works, HOWEVER:

I cannot turn my character (assumably because the lerp is defining transform.forward as well)

I can move my character, but he slides back to where he was (even when he is grounded and gravity should not be pulling him anywhere).

I know I am crossing Rigidbody movement through Addforce() with Mecanim, both in FixedUpdate()... has anyone seen a similar problem?

(Imagine using mecanim to walk an astronaut around an asteroid using mecanim and gravity boots to get the desired effect)