Progress and Challenges of Hand-eye-foot Coordination for Mobile Manipulator

The goal of mobile manipulators is to perform complex operational tasks autonomously in a structured and unstructured environment and to work or closely interact with humans. Mobile manipulators brings more complicated engineering problems and deeper scientific problems. It is not easy to simply combine the research results of mobile platforms and robot arms to solve the unique and complex problems: hand-eye-foot coordination for mobile manipulator. Firstly, this paper mainly presented a survey of mobile manipulator from three aspects: autonomous grasping strategy, mobile platform and path planning. Especially, we discussed the basic principle of space trajectory planning for mobile manipulators and its practical application combined with vision, and further divided them into six categories according to different modeling principles. In conclusion, we suggest that mobile manipulators still face three major challenges: uncertainty in high-dimensional space, highly coupled dynamic nonlinearity, real-time performance of dynamic task planning.