Nowadays robots, and in particular mobile manipulators, can assist humans to accomplish common tasks, behaving as smart assistants for the operators sharing the same workspace. Keeping this in mind, the objective of this thesis is to expand the capabilities of a mobile manipulator (Locobot WX250s) in order to make it able to: (i) localize itself in a partially known environment, (ii) avoid obstacles in it, (iii) recognize and estimate the pose of known objects, (iv) localize the most dangerous part of the requested item and (v) pick and place it in order to minimize the risk for humans. The place inside which the robot operates can be a Warehouse or a Laboratory, indoor environments where objects are stored on shelves, cabinets and drawers whose fixed positions can be considered as prior knowledge by the robot.