@inproceedings{Vahrenkamp07, 
    author 		= {Nikolaus Vahrenkamp and Tamim Asfour and Rüdiger Dillmann}, 
    title 		= {Efficient Motion Planning for Humanoid Robots using Lazy Collision Checking and Enlarged Robot Models}, 
    booktitle 		= {Intelligent Robots and Systems, IROS}, 
    year 		= {2007},
    pages		= {3062-3067},
    month 		= {October}
}