Description: This course provides a survey of autonomous robotic manipulation systems. In particular, we are interested in the most influential recent research, as well as the necessary fundamental concepts that have paved the roads. By reading relevant papers from top journals and conferences, we will discuss problems including grasping, motion planning, prehensile and non-prehensile manipulation, affordance and task modeling, hand design, and perception. Centered around the recent rapid development of various sensor technology, we will try to bridge the gaps between sensing modalities to each of the major problems in manipulation, with an emphasis on understanding how sensing modalities interact with other components in the system. Upon the completion of this course, students should have gained a comprehensive understanding of robotic manipulation as a research field, and should be able to define, formulate and analyze relevant scientific problems on a research level. Repeatable for Credit.