A bag has the advantages of holding multiple objects and being flexible enough to separate itself from outside. According to these advantages, this study proposes a mobile robot that can collect multiple objects and separate them by the manipulator equipped with a bag. The manipulator is equipped with the bag to the angular gripper and the arm called “saparating mechanism” to separate the bag. The manipulator puts into the grasped objects into the bag and seals targets in the bag by the separating mechanism. In this state, the manipulator grasps a new object and sends it into the bag to realize the collection of multiple objects. Also, the manipulator holds grasped objects to realize the separating objects into group in the bag or grasped by the gripper . Furthermore, the manipulator gathers multiple objects toward the robot and scoops up them using the slope attached the gripper.