In this talk I will introduce the central notions of the theory of autonomy, as it is being currently developed in biology and cognitive science. The theory of autonomy puts forward the capacity of self-determination of organisms as whole systems, and constitutes thereby an alternative to more reductionist and mechanistic approaches. I will discuss how the theory of autonomy provides a justification for the scientific use of notions as function, norm, agency and teleology, whose epistemological legitimacy is highly debated. I will conclude by describing the difficult challenges that poses the transition from biological to cognitive autonomy.