A mobile manipulator is a robotic arm mounted on a moving base. The base mobility substantially increases the size of the robot workspace, and enables better positioning of the manipulator for efficient task execution. Mobile manipulator systems have been suggested for various applications, e.g., tasks involving hazardous environments, explosive handling, waste management, outdoor exploration and space operations. The motion of the mobile base is subject to holonomic or nonholonomic kinematics constraints, which renders the control of mobile manipulators very challenging, especially when robots work in non engineered environments. Many solutions have been developed for human robot interaction. However the proposed techniques only work in engineered flat terrains preventing robots to work with humans in complex heterogeneous outdoor environments. Part of this dissertation will describe the modeling of mobile manipulator sensors to enable robots work on rough terrains. This dissertation describes a novel control solution for human-robot cooperation in rough terrains using information from sensors such as force/torque sensor, IMU unit sensor and encoders. The research includes the development of control mechanisms to enable ground mobile manipulators to execute complex tasks in cooperation with humans or other autonomous robots while working in unknown, dynamic rough terrains/environments.