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This paper presents techniques and methodologies for how to use two cooperating arms along with the stereo vision system to execute a complicated task automatically for a two-armed service robot. Via standard image processing, the stereo vision system recognizes objects in the task and then obtain their positions with respect to the stereo vision camera. The positions are transformed into those with respect to the reference frame of the dual arms. With those known objects, a general procedure for autonomous task execution is presented, and then an interesting coffee making task is used to illustrate the procedure done by the robot. Several experiments are conducted to illustrate the effectiveness and merit of the proposed autonomous task execution procedure for a two-armed service robot.