His research interests center on the grasping and manipulation skills for any kind of artificial systems (e.g. mobile manipulators). In order to succeed with uncertainty in unstructured domains, different perceptual capabilities are explored and some Artificial Intelligence approaches are investigating, including learning from experience and following a knowledge-based methodology. In particular, the main topics related with this research are: Multisensory based Grasping and Dexterous Manipulation, Telerobotics and Human-Robot Interaction, all of them applied to any kind of real service robotics scenarios, including assistive and underwater robotics.