# Closed-Chain Manipulation of Large Objects by Multi-Arm Robotic Systems

arXiv: https://arxiv.org/abs/1612.01650 · HTML: https://mlsanity.com/paper/1612.01650/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Dec 2016.

## Built on by (most cited first, 6 of 6)

- [RoCo: Dialectic Multi-Robot Collaboration with Large Language Models](https://mlsanity.com/paper/2307.04738/) (2023)
- [FluidLab: A Differentiable Environment for Benchmarking Complex Fluid Manipulation](https://mlsanity.com/paper/2303.02346/) (2023)
- [Towards Generalist Robots: A Promising Paradigm via Generative Simulation](https://mlsanity.com/paper/2305.10455/) (2023)
- [BiAssemble: Learning Collaborative Affordance for Bimanual Geometric Assembly](https://mlsanity.com/paper/2506.06221/) (2025)
- [RoboBallet: Planning for Multi-Robot Reaching with Graph Neural Networks and Reinforcement Learning](https://mlsanity.com/paper/2509.05397/) (2025)
- [6-DoF Stability Field via Diffusion Models](https://mlsanity.com/paper/2310.17649/) (2023)

## Abstract (arXiv)

Closed kinematic chains are created whenever multiple robot arms concurrently manipulate a single object. The closed-chain constraint, when coupled with robot joint limits, dramatically changes the connectivity of the configuration space. We propose a regrasping move, termed "IK-switch", which allows efficiently bridging components of the configuration space that are otherwise mutually disconnected. This move, combined with several other developments, such as a method to stabilize the manipulated object using the environment, a new tree structure, and a compliant control scheme, enables us to address complex closed-chain manipulation tasks, such as flipping a chair frame, which is otherwise impossible to realize using existing multi-arm planning methods.