This chapter describes a mobile manipulator for monitoring and support of human activity in home and office to maintain security. The mobile manipulator is equipped with cameras at the end of an arm. The camera pose can be changed flexibly for monitoring by controlling both mobile platform and manipulator. The trajectory of a person's head is detected for recognizing his/her behaviors. In future, a method of combining color and range information to estimate motions of persons will be developed. Dangers, such as falling and collision, will be detected based on the measured behaviors and the environmental shape. The aim is to generate adequate motions of the mobile manipulator according to persons' motions. For example, the mobile manipulator moves the camera for zooming in on a person to observe the person's face in high resolution or to measure the person's motions in high precision.
ASJC Scopus subject areas