The Industry 5.0 paradigm emphasizes research and innovation for a sustainable, human-centered, and resilient industry. MELODY, conceived as a collaborative system, supports the circular economy by enhancing the remanufacturing process and reducing human workload in challenging jobs. Recognized by the European Commission for its sustainability, remanufacturing focuses on optimal component selection, resource efficiency and worker ergonomics. MELODY integrates data analysis for remanufacturing or recycling decisions and emphasizes system adaptability to human needs. The adoption of mobile robots enhances production system flexibility by assisting in complex tasks alongside humans. IoT solutions support robot orchestration and resource management in disassembly processes, aiding in task replanning. MELODY's objectives include developing a framework for circularity, assessing component health to optimize disassembly, and predicting product status for efficient scheduling of human-robot activities. MELODY also aims to establish collaborative strategies for bidirectional interaction between humans and mobile manipulators, fostering mutual learning and benefiting both parties and the process. By leveraging Industry 4.0 technologies, MELODY facilitates active learning for humans and robots during operations, thereby enhancing adaptability. In addition, MELODY focuses on novel approaches to coordinate mobile manipulators in the Closed Loop Supply Chain, exploring decentralized control strategies for flexibility, especially in environments with limited communication capabilities.