@incollection{Vahrenkamp10b,
  author = {Nikolaus Vahrenkamp and Tamim Asfour and Rüdiger Dillmann},
  editor = {Harada, Kensuke and Yoshida, Eiichi and Yokoi, Kazuhito},
  booktitle = {Motion Planning for Humanoid Robots},
  title = {Efficient Motion and Grasp Planning for Humanoid Robots},
  publisher = {Springer},
  year = {2010},
  pages = {129--160}
}