Due to the presence of obstacles, fixed or mobile, narrow places, locations with a high number of obstacles, doors, safety valves and other elements in typical human environments, mobile manipulators require a high level of autonomy in movements and manipulation. To cope with autonomy requirements a combination of displacement, manipulation and sensorial capabilites are nedeed. Other important aspect in many kind of environments is the presence of persons. Safety considerations need to be carefully considered from a sensorial point of view and specially in those aspects relatives to the manipulator (light wheight and moderate speeds. MANFRED has a coordinated control of all degree of freedom in the system (the mobile base 2 DOF and the manipulator 6 DOF) to achieve a good and robust movement in order to develope efficiently different tasks. This mobile manipulator use a sensorial system based in vision and 3-D laser telemetry to perceive and model 3-D environments. This sensorial system have to be coordinated with the control system to manipulate objects than can be located in uncertain location of the espace. The mobile manipulator will include all the capabilities needed to navigate, localize and avoid obstacles safely through the environment