Dmitry Berenson, Joel E. Chestnutt, Siddhartha S. Srinivasa, James J. Kuffner, Satoshi Kagami. Pose-constrained whole-body planning using Task Space Region Chains. In 9th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2009, Paris, France, December 7-10, 2009. pages 181-187, IEEE, 2009. [doi]
Abstract is missing.