Russell Gayle Stephane Redon Avneesh Sud Ming C. Lin Dinesh Manocha Efficient Motion Planning of Highly Articulated Chains using Physics-based Sampling. 3319-3326 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.363985 db/conf/icra/icra2007.html#GayleRSLM07