【Objective】The hydraulic manipulator has the characteristics of strong load capacity, fast response speed, wide range of stepless speed regulation, small radiation electromagnetic interference and so on. It is wide ly used in the construction of transportation infrastructure, such as tunnel boring and bridge construction equip ments. This paper aims to summarize the contact operation control methods of hydraulic manipulator, and intro duce the precise coordination control methods of force and position, and finally provide an outlook on future re search directions. 【Method】In practical engineering applications, the hydraulic manipulator often has contact with the external environment, and its contact operation control involves the precise coordinated control of force and position. However, the precise control of force and position requires an accurate dynamic model and accu rate estimation of terminal force. 【Result】Both domestic and international scholars have conducted in-depth re search on the precise coordination control of force and position, achieving significant results in ensuring stable, accurate, and safe contact operations of hydraulic robotic arms. 【Conclusion】Based on these achievements, this paper describes the hydraulic manipulator dynamics modeling, dynamics parameter identification, end contact force estimation methods, and compliance control. Furthermore, it put forward suggestions and prospects for re search.