The UPM research team UPM (http://www.disam.upm.es) includes a number of renowned researchers in Robots and Intelligent Machines, Robotics and Cybernetics and Computerized Vision. In addition to the researchers who are the doctors making this proposal, there are another twenty participate with various levels of training. Since 1980, they have been working in Robotics, and are one of the pioneers in Spain in this field. They have developed projects in robotics and automatics in a number of areas, but in recent years, they have intensified their work in Service Robots, to develop a number of important robots in this specific field. Currently, they are leaders in developing five projects for the CICYT and one for the CM, three projects for the EU and three projects that are industrial in nature. This team of researchers is member of Euron, Presence and Ribero, all of which are linked to robotics, and part of the network of excellence at the international level.