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While unimanual regrasping has been studied extensively, either by regrasping in-hand or by placing the object on a surface, bimanual regrasping has seen little attention. The recent popularity of simple end-effectors and dual-manipulator platforms makes bimanual regrasping an important behavior for service robots to possess. We solve the challenge of bimanual regrasping by casting it as an optimization problem, where the objective is to minimize execution time. The optimization problem isdoi:10.1109/icra.2012.6225095 dblp:conf/icra/BalaguerC12 fatcat:ojvbqgg3ynhq3pn6nrrja35nxi