@inproceedings{Vahrenkamp09a,
	title={Planning and Execution of Grasping Motions on a Humanoid Robot},
	author={Nikolaus Vahrenkamp and Anatoli Barski and Tamim Asfour and R\"{u}diger Dillmann},
	booktitle={Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference on},
	year={2009},
	month={Dec.}
}