Robots are designed to perform difficult and repetitive tasks to replace the human operator, and in doing that they have to come into contact with their environment and manipulate objects through specially developed grippers or complex robotics hands. A substantial amount of work in robotics have been devoted to compute optimal grasps based on the geometry of the objects, but other aspects can also be taken into account. Nowadays, robots are expected to form more tasks like assisting and collaborating directly with people. Therefore, the movements have to be planned adequately and controlled to account for or compensate the unforeseen reaction forces. This subject is to cover aspects of robotics related to the manipulation of objects and interaction with the environment from the motion and control point of views.