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Nikolaus Vahrenkamp, Markus Przybylski, Tamim Asfour, Rüdiger Dillmann. Bimanual grasp planning. In 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011), Bled, Slovenia, October 26-28, 2011. pages 493-499, IEEE, 2011. [doi]