This is the digitally published, citable, archival version of the proceedings for the Robotics: Science & Systems 2008 Manipulation Workshop - Intelligence in Human Environments. The workshop was held the Swiss Federal Institute of Technology Zurich on Saturday, June 28th, 2008 as part of the 2008 Robotics: Science & Systems Conference. This full-day workshop consisted of talks, discussions, a poster session, and demos. All of the submissions were reviewed by the organizers and members of the program committee. The accepted submissions are published here in the proceedings. Papers accepted as posters are denoted as such by their file names. The members of the program committee follow: Oliver Brock, Aaron Dollar, Andrew Fagg, Paul Fitzpatrick, Rod Grupen, Ayanna Howard, Chad , Jenkins, Harada Kensuke, Danica Kragic, Giorgio Metta, Francesco Nori, Christian Ott, Alan Peters, Angel Pasqual del Pobil, Ashutosh Saxena, Mike Stilman, Alexander Stoytchev, Euduardo Torres-Jara, and Thomas Wimböck.