@inproceedings{Gray11-IDETC-Planning, title = {Planning manipulation and grasping tasks with a redundant arm}, author = {Gray, Steven R. and Romano, Joseph M. and Brindza, Jordan and Kim, Soonkyum and Kuchenbecker, Katherine J. and Kumar, Vijay}, booktitle = {Proc.\ ASME International Design Engineering Technical Conferences}, address = {Washington, D.C., USA}, year = {2011}, note = {DETC2011-47453. Oral presentation given by Gray}, doi = {} }