Fumio Kanehiro Kiyoshi Fujiwara Hirohisa Hirukawa Shinichiro Nakaoka Mitsuharu Morisawa Getting up Motion Planning using Mahalanobis Distance. 2540-2545 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.363847 db/conf/icra/icra2007.html#KanehiroFHNM07