In view of the problems of highly redundant degree-of-freedoms

strongly dynamic coupling between manipulator(s) and mobile platform of the Ground mobile manipulators (GMM)

some challenging puzzles in GMMs are still being open

including equivalent dynamics modelling of action chain and its simplification method

the high-dimensional dynamic manipulate planning under strong environmental interaction

dynamic stability

as well as real-time manipulator control

and so forth. Focusing on dynamic modelling and coupling analysis

motion planning

dynamic stability

and manipulator control of the GMMs

current literatures are investigated and a review on the state-of-the-art of whole-body motion planning and control of the GMMs is presented. Some key problems and technical challenges are summarized

and the future direction is prospected.