3-D Collision Avoidance for the Dual-Arm Humanoid Robot,". Charoenseang, S., Srikaew, A., Wilkes, D M., & Kawamura, K. In Proceedings of IASTED International Conference on Robotics and Manufacturing, 1998.
bibtex   
@inproceedings{charoenseang19983,
  title={3-D Collision Avoidance for the Dual-Arm Humanoid Robot,"},
  author={Charoenseang, Siam and Srikaew, Atit and Wilkes, D Mitchell and Kawamura, Kazuhiko},
  booktitle={Proceedings of IASTED International Conference on Robotics and Manufacturing},
  year={1998}
}

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