Robot technology and equipment are currently cutting-edge research fields and are the focus of national defense technology and the national economy. Traditional robots mostly work in the form of passive observation, which greatly limits their application scenarios. Therefore, robots with the ability to interact with environments are the focus of future research and development. On the basis of information observation-type robots, active operation-type mobile robots can be obtained by adding active execution mechanisms (such as manipulator arms, dexterous hands, etc.). Typical cases include unmanned detonation robots (UDRs), unmanned aerial manipulators (UAMs), space manipulators, and unmanned underwater manipulators (UUMs), as shown in Fig. 7.1.