@ARTICLE{Vahrenkamp12e,
  author = {Nikolaus Vahrenkamp and Tamim Asfour and R\"udiger Dillmann},
  title = {Efficient Inverse Kinematics Computation based on Reachability Analysis},
  journal = {International Journal of Humanoid Robotics (IJHR)},
  year = {2012},
  pages = {(accepted)}
}