**5. Case study using Kuka's youBot mobile manipulator**

The KUKA's youBot is a mobile robot manipulator that was designed targeting the scientific research and training community as an open source platform. **Figure 7** shows the picture of KUKA's youBot mobile manipulator with a mobile base and manipulator mounted on top of it [13]. Since, youBot can be used for development and validation of mobile robot platform as well as for fixed manipulation tasks, youBot is considered in our case study for physical interaction with the environment.
