KIST service robot is composed of a mobile platform, a 6 DOF robotic manipulator, and a multi-fingered robotic hand. We discuss motion control and coordination strategy in order to deal with uncertainty problem in practical applications. A door opening is our target task. Since the environment is not prepared for a service robot, it is essential to deal with various uncertainties due to a robot positioning error, sensing error, as well as manipulation errors. In this paper, practical parameter estimation schemes are proposed from the viewpoint of coordinative motion control of a hand, a manipulator and a mobile robot. Analysis of physical properties of each component provides a methodology of appropriate role assignment for each component. In order to carrying out compliance control, an external force is computed using fingertip force information of the three fingered robot hand, instead of using force torque sensor at the wrist. Presented experimental result clearly shows the effectiveness of the proposed scheme.