@INPROCEEDINGS{Ho:Humanoid07,  
author={E. S. L. {Ho} and T. {Komura}},  
booktitle={2007 7th IEEE-RAS International Conference on Humanoid Robots},   
title={Planning tangling motions for humanoids},   
year={2007},  
volume={},  
number={},  
pages={507-512},  
doi={10.1109/ICHR.2007.4813918}
}