In recent years, the use of robots has become increasingly common in people's daily lives. The ability to delegate simple tasks, such as floor cleaning or lawn mowing, simplifies and enhances the quality of life. The fundamental idea behind this thesis is based on this premise. The project focuses on developing an assistant robot that can coexist in a domestic environment alongside people. For the development of this thesis, a mobile manipulator was used, programmed to: (i) receive user requests, (ii) locate itself in a known closed environment and navigate safely in presence of people, (iii) identify the object requested by the user, grasp it and place it in a predefined position, and (iv) deliver the object to the user safely.