@inproceedings{Vahrenkamp09, 
    author 		= {Nikolaus Vahrenkamp and Dmitry Berenson and Tamim Asfour and James Kuffner and Rüdiger Dillmann}, 
    title 		= {Humanoid Motion Planning for Dual-Arm Manipulation and Re-Grasping Tasks}, 
    booktitle 		= {Intelligent Robots and Systems, IROS}, 
    year 		= {2009},
    month 		= {October}
}