Robust grasping, dexterous manipulation, and locomotion skills are the key functions of a robot to perform complex mobile manipulation tasks, which are paramount in most of the industrial and service applications. The main focus of the research presented in this seminar is the design and development of a versatile robot, without increasing the design complexity, by synergizing grasping, manipulation, and locomotion. The novelty of the proposed robot lies in the design of the two sub-modules: 1) a multipurpose grasper having the capabilities of shape conformation, within-hand manipulation, and a built-in compact mechanism to vary the forces at the contact surface, and 2) an articulated floating base serial chain connected to the graspers to achieve different grasping and manipulation (prehensile and non-prehensile manipulation) and locomotion (brachiation, rolling, redundant chain, walking, climbing) modes. The mechanical design of the robot, its mathematical model, and the control framework will be presented. Simulation results for various modes of locomotion and manipulation, along with experimental results using the fabricated prototype of the robot will be discussed.