The bottom-up synthesis of carbon based nanomaterials directly on semiconductor surfaces allows to decouple their electronic and magnetic properties from the substrates. However, the lack of reactivity on these non-metallic surfaces hinders or reduces significantly the yield of these reactions. Such hurdles practically precludes transferring bottom-up synthesis strategies onto semiconducting and insulating surfaces. Here, we achieve a high polymerization yield of terphenyl molecules on the semiconductor TiO$_2$(110) surface by incorporating cobalt atoms as catalysts in the Ullmann coupling reaction. Cobalt atoms trigger the debromination of 4,4-dibromo-p-terphenyl (DBTP) molecules on TiO$_2$(110) and the formation of an intermediate organometallic phase already at room-temperature (RT). As the debromination temperature is drastically reduced, the homo-coupling temperature is also significantly lowered, preventing the desorption of DBTP molecules from the TiO$_2$(110) surface and leading to a radical improvement on the poly-para-phenylene (PPP) polymerization yield. The universality of this mechanism is demonstrated with an iodinated terphenyl derivative (DITP), which shows analogous dehalogenation and polymerization temperatures with a very similar reaction yield. Consequently, we propose to use minute amounts of metal catalyst to drive forward generic bottom-up synthesis strategies on non-metallic surfaces.