In this talk we will give an overview of research efforts within autonomous manipulation at the AASS
Research Center, Örebro University, Sweden. We intend to give a holistic view on the historically
separated subjects of robot motion planning and control. In particular, viewing motion behavior
generation as an optimal control problem allows for a unified formulation that is uncluttered by a-priori domain assumptions and simplified solution strategies. Furthermore, We will also discuss the problems of workspace modeling and perception and how to integrate them in the overarching problem of autonomous manipulation.