A mobile manipulator which is able to achieve manipulation, self-reconfiguration and locomotion movement, comprising a mobile plate (1, 1') suitable for carrying an object, and a plurality of legs each, having a distal end connected to the said mobile plate and a proximal end connected to a support; each leg comprising at least one actuator (31, 31a, 32a, 31b, 32b, 31c, 32c, 31d, 32d; 31a', 32a', 31b', 32b', 31c, 31c') interconnnected between said mobile plate (1, 1') and the supporting object; wherein: each leg comprises a plurality of links (2, 3, 4, 9, 10, 11, 21a, 21b, 21c, 21d, 21a', 21b', 21c'; 22a, 22b, 22c, 22d, 22a', 22b', 22c', 23a, 23b, 23c, 23d, 23a', 23b', 23c'; 24a, 24b, 24c, 24d, 24a', 24b', 24c'; 25a, 25b, 25c, 25d, 25a', 25b', 25c'; 26a, 26b, 26c, 26d, 26a', 26b', 26c'; 27a, 27b, 27c, 27d, 27a', 27b', 27c'; 28a, 28b, 28c, 28d, 28a', 28b', 28c'; 29a, 29b, 29c, 29d, 29a', 29b'; 29c'), and is connectable to a clamping device. (5, 5a, 5b, 5c, 5d, 5a', 5b', 5c') at its proximal end for connecting the leg to the support which is a clamping area (6a, 6b, 6c, 6d) of a supporting object; each actuator (31, 31a, 32a, 31b, 32b, 31 c, 32c, 31d, 32d; 31a', 32a', 31b', 32b', 31c, 31c') is interconnnected between respective proximal end portions of a distal intermediate link (4, 23a, 23b, 23c, 23d, 23a', 23b', 23c'; 24a, 24b, 24c, 24d, 24a', 24b', 24c') and respective distal end portions of a proximal intermediate link (9, 25a, 25b, 25c, 25d, 25a', 25b', 25c'; 26a, 26b, 26c, 26d, 26a', 26b', 26c'), said distal intermediate link comprising distal end portions articulatedly connected to the mobile plate (1, 1') through at least one distal articulated joint (7, 7a, 7b, 7c, 7d, 7a', 7b', 7c'; 8a, 8b, 8c, 8d, 8a', 8b', 8c'; 41, 41a, 41b, 41 c, 41d, 41a', 41b', 41c') and said proximal intermediate link comprising proximal end portions articulatedly connected to one of the clamping devices (5, 5a, 5b, 5c, 5d, 5a', 5b', 5c') through at least one proximal articulated Joint (42, 42a, 42b, 42c, 42d, 42a', 42b', 42c', 45a, 45b, 45c, 45d, 45a', 45b', 45c'; 43, 43a, 43b, 43c, 43d, 43a', 43b', 43c'; 44, 44a, 44b, 44c, 44d, 44a', 44b', 44c'); said articulated joints comprise a distal lockable joint system (41, 41a, 41b, 41c, 41 d, 41a', 41b', 41c') arranged between said actuator (31, 31a, 32a, 31 b, 32b, 31c, 32c, 31d, 32d; 31a', 32a', 31b', 32b', 31c, 31c') and said mobile plate (1, 1'), and a proximal lockable joint system (42, 42a, 42b, 42c, 42d, 42a', 42b', 42c'; 43, 43a, 43b, 43c, 43d, 43a', 43b', 43c'; 44, 44a, 44b, 44c, 44d, 44a', 44b', 44c') arranged between said actuator and said clamping device (5, 5a, 5b, 5c, 5d, 5a', 5b', 5c'); said lockable joint systems being arranged to immobilize the leg in predetermined positions achieved by action of said actuators. each leg comprises a plurality of links (2, 3, 4, 9, 10, 11, 21a, 21b, 21c, 21d, 21a', 21b', 21c'; 22a, 22b, 22c, 22d, 22a', 22b', 22c', 23a, 23b, 23c, 23d, 23a', 23b', 23c'; 24a, 24b, 24c, 24d, 24a', 24b', 24c'; 25a, 25b, 25c, 25d, 25a', 25b', 25c'; 26a, 26b, 26c, 26d, 26a', 26b', 26c'; 27a, 27b, 27c, 27d, 27a', 27b', 27c'; 28a, 28b, 28c, 28d, 28a', 28b', 28c'; 29a, 29b, 29c, 29d, 29a', 29b'; 29c'), and is connectable to a clamping device. (5, 5a, 5b, 5c, 5d, 5a', 5b', 5c') at its proximal end for connecting the leg to the support which is a clamping area (6a, 6b, 6c, 6d) of a supporting object; each actuator (31, 31a, 32a, 31b, 32b, 31 c, 32c, 31d, 32d; 31a', 32a', 31b', 32b', 31c, 31c') is interconnnected between respective proximal end portions of a distal intermediate link (4, 23a, 23b, 23c, 23d, 23a', 23b', 23c'; 24a, 24b, 24c, 24d, 24a', 24b', 24c') and respective distal end portions of a proximal intermediate link (9, 25a, 25b, 25c, 25d, 25a', 25b', 25c'; 26a, 26b, 26c, 26d, 26a', 26b', 26c'), said distal intermediate link comprising distal end portions articulatedly connected to the mobile plate (1, 1') through at least one distal articulated joint (7, 7a, 7b, 7c, 7d, 7a', 7b', 7c'; 8a, 8b, 8c, 8d, 8a', 8b', 8c'; 41, 41a, 41b, 41 c, 41d, 41a', 41b', 41c') and said proximal intermediate link comprising proximal end portions articulatedly connected to one of the clamping devices (5, 5a, 5b, 5c, 5d, 5a', 5b', 5c') through at least one proximal articulated Joint (42, 42a, 42b, 42c, 42d, 42a', 42b', 42c', 45a, 45b, 45c, 45d, 45a', 45b', 45c'; 43, 43a, 43b, 43c, 43d, 43a', 43b', 43c'; 44, 44a, 44b, 44c, 44d, 44a', 44b', 44c'); said articulated joints comprise a distal lockable joint system (41, 41a, 41b, 41c, 41 d, 41a', 41b', 41c') arranged between said actuator (31, 31a, 32a, 31 b, 32b, 31c, 32c, 31d, 32d; 31a', 32a', 31b', 32b', 31c, 31c') and said mobile plate (1, 1'), and a proximal lockable joint system (42, 42a, 42b, 42c, 42d, 42a', 42b', 42c'; 43, 43a, 43b, 43c, 43d, 43a', 43b', 43c'; 44, 44a, 44b, 44c, 44d, 44a', 44b', 44c') arranged between said actuator and said clamping device (5, 5a, 5b, 5c, 5d, 5a', 5b', 5c'); said lockable joint systems being arranged to immobilize the leg in predetermined positions achieved by action of said actuators.