@inproceedings{grey2014planning,
  title={Planning heavy lifts for humanoid robots},
  author={Grey, Michael and Joo, Sungmoon and Zucker, Matt},
  booktitle={Humanoid Robots (Humanoids), 2014 14th IEEE-RAS International Conference on},
  pages={640--645},
  year={2014},
  organization={IEEE}
}