Technology in the last decades has revolutionized our way of life, making more and more powerful devices available to everyone. The development of such technologies has been exploited also to conduct researches in several scientific fields, i.e. medical area, biotechnologies, computer science etc. Nowadays, thanks to the improvement made in Robotics and Artificial Intelligence, there can be found virtual assistance devices in many households and public places. Service robotics and artificial intelligence allows to help elder and disabled people, on different daily and basic tasks, in a noninvasive manner. The idea of this thesis was born at PIC4SeR ( PoliTO Interdepartmental center of service robotics ) with the purpose of implementing a complex service robotics application to support elder and disabled people in the house environment.