It has always been expected that the robot can understand the natural language instruction and then executes the task accordingly. Currently, the robot usually interprets the instruction by visually grounding the textual information to its surroundings, while it may be not enough for some complex situations with only visual perception. So it is reasonable for the robot to leverage its multisensory perception ability to better understand the instruction. In this chapter, we propose a multisensory active perception approach to tackle the task of natural language instruction understanding for robotic manipulation, in which the robot actively coordinates its visual, tactile, and auditory perception to fully understand the instruction and then executes the manipulation task. Case studies are conducted demonstrating the superiority of the multisensory active perception compared with single sensory perception for instruction understanding. Moreover, we establish a user-friendly human-robot interaction interface where the human sends instruction to the robot via a mobile APP.