Efficient material flow, also known as intralogistics, plays a crucial role in agile production. Despite the potential of robotic solutions, their complete integration into automating intralogistics processes, particularly in collaboration with humans, remains a significant challenge. This is primarily due to the limitations in flexibility, cost-effectiveness, and safety certification of current robots. To address these challenges, this thesis focuses on the development of a model-based, whole-body controller that can handle navigation and manipulation tasks simultaneously while ensuring human safety. To achieve efficient execution of manipulation tasks, it is essential to employ rigid or compliant actions. Therefore, the whole-body controller has been specifically designed with a strong emphasis on dynamics, leveraging the theory of impedance control.