Multi-Arm Robotic System for Large Object Orientation Control

I developed this multi-arm robotic manipulation system as my master's degree independent study project, working closely with advisor Professor Roberto Tron over a full semester.

The Challenge: Traditional methods for manipulating very large objects in manufacturing, construction, and aerospace lack the precision, flexibility, and safety needed for complex tasks. Individual robotic arms are limited by their workspace constraints when handling objects significantly larger than their reach.

My Solution: I created a novel "gait-inspired" control strategy that coordinates multiple robotic arms to reorient large objects through a walking-like pattern:

Stepping Phase: Individual robots strategically reposition their suction-based contact points

Dragging Phase: All robots work together to apply coordinated forces for object reorientation

Results: Using PyBullet simulation with four UR5e robotic arms, I successfully demonstrated reorientation of objects up to 5×5×1 meters (approximately 5x larger than any single robot's workspace) with rotations up to 100 degrees in roll and pitch axes.