Development of a robotic assistant for people with different types of disabilities, specially blinds and wheelchair-based, in domestic environments. The mobile manipulator must not only have the ability to navigate in a closed environment, but also have the ability to easily manipulate daily objects to bring them to the user. On the other hand, human-robot interactions must be multimodal and respect the accessibility requirements of the applications according to the WCAG 2.1 and UNE-EN 301.549 regulations.