This chapter is devoted to cooperative manipulation of a common object by means of two or more robotic manipulators. After a short introduction to the topic, kinematics and statics of multiple robotic manipulators cooperatively manipulating a tightly grasped rigid object is presented in depth. As for the kinematics and statics, the chosen approach is based on the so-called symmetric formulation. Fundamental concepts related to dynamics of closed kinematic chains are then briefly discussed. A section is devoted to the definition of suitable task-space variables, capable of describing in a meaningful and complete way typical tasks of cooperative robotic systems. Then, the chapter presents a review of the most notable approaches to motion and force control of cooperative manipulators. A set of examples, including a case study based on a simple cooperative system, is proposed to let the student familiarize with the main topics presented in the chapter. The final section is devoted to further reading.