@INPROCEEDINGS{Ho::ICRA2013, 
author={Ho, Edmond S. L. and Shum, Hubert P. H. }, 
booktitle={Robotics and Automation (ICRA), 2013 IEEE International Conference on}, 
title={Motion Adaptation for Humanoid Robots in Constrained Environments}, 
year={2013}, 
month={may},
pages={1-6}, 
}