@inproceedings {PN8710,
	title = {Learning Flexible Full Body Kinematics for Humanoid Tool Use},
	author = {Matthias Rolf AND Jochen Steil AND Michael Gienger},
	year = {2010},
	publisher = {IEEE},
	booktitle = {Proceedings of the International Symposium on Learning and Adaptive Behavior in Robotic Systems}
}