@INPROCEEDINGS{Vahrenkamp12c,
  author = {Nikolaus Vahrenkamp and Tamim Asfour and Giorgio Metta and Giulio Sandini and R\"udiger Dillmann},
  title = {Manipulability Analysis},
  booktitle = {Humanoid Robots (Humanoids), 2012 12th IEEE-RAS International Conference on},
  year = {2012},
  pages = {(accepted)}
}