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The major goal of research regarding mobile service robotics is to enable a robot to assist human beings in their everyday life. This implies that the robot will have to deal with everyday life environments. One of the most important steps towards able service robots is to enhance the ability to operate well in unstructured living environments. In this paper we focus on the integration of object recognition, obstacle detection and collision free manipulation to increase the service robots manipulation abilities in the context of highly unstructured environments.