@inproceedings{Vahrenkamp08,
  author    = {Nikolaus Vahrenkamp and
               Christian Scheurer and
               Tamim Asfour and
               James J. Kuffner and
               R{\"u}diger Dillmann},
  title     = {Adaptive motion planning for humanoid robots},
  booktitle = {IROS},
  year      = {2008},
  pages     = {2127-2132} 
}