Soft autonomous mobile manipulators in agricultural automation – a review

Purpose This review paper aims to illustrate the potential of soft autonomous mobile manipulators (SAMM) in agriculture tasks involving harvesting and crop monitoring. Design/methodology/approach This paper systematically analyzes the major components involved: soft grippers, actuation and control methods, localization and path planning of mobile robots and integrated motion planning of mobile manipulators in agricultural environments. Findings While mobile robots and soft manipulators show promising individual developments, their integration faces significant challenges. Critical issues include real-time control implementation, environmental adaptability and coordinated task execution between mobility and manipulation systems. Originality/value This study addresses a significant gap in the literature, as there is currently no comprehensive review examining soft mobile manipulation systems and their integration into agricultural applications. By providing an in-depth analysis of core components, planning strategies and applications that combine delicate manipulation with efficient navigation, this work is a reference for researchers and practitioners developing state-of-the-art agricultural robotics.