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Lifting heavy objects poses a unique challenge for humanoid robots and more broadly, for any robot which is responsible for maintaining its own balance. Configurations that are balanced without supporting a heavy object's weight might not be balanced while the object's weight is being supported, and vice versa. In this paper, we present a series of planning techniques which resolve these issues without relying on real time control methods or extensive force/torque sensing. We introduce thedoi:10.1109/humanoids.2014.7041430 dblp:conf/humanoids/GreyJZ14 fatcat:4yip6k5ur5ed3dgf3yk2y4ec54