Eiichi Yoshida Mathieu Poirier Jean-Paul Laumond Oussama Kanoun Florent Lamiraux Rachid Alami Kazuhito Yokoi Whole-body motion planning for pivoting based manipulation by humanoids. 3181-3186 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543695 conf/icra/2008 db/conf/icra/icra2008.html#YoshidaPLKLAY08