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IVO is a mobile urban service robot aimed to perform navigation, manipulation and human robot interaction tasks. Navigation is based on a 4 wheel skid steering platform, a front 3D lidar and depth camera and rear 2d lidar. Manipulation is based on two 7 DoF arms with wrist torque force sensors, a 1 DoF gripper and 3 DoF hand-like gripper.It\'s also equipped with a pan and tilt head with a depth camera, microphone and speakers with Tex-To-Speech software and a touchscreen.