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Motion planning for humanoid robotic systems with many degrees of freedom is an important and still generally unsolved problem. To give the robot the ability of acting and navigating in complex environments, the motion planner has to find collision-free paths in a robust manner. The runtime of a planning algorithm is critical, since complex tasks require several planning steps where the collision detection and avoidance should be accomplished in reasonable time. In this paper we present andoi:10.1109/iros.2007.4399240 dblp:conf/iros/VahrenkampAD07 fatcat:kvdpzbomfzcplb6aqpda6rd5yq