Catalog Description: This course is an introduction to the field of robotics. It covers the fundamentals of kinematics, dynamics, control of robot manipulators, robotic vision, sensing, forward & inverse kinematics of serial chain manipulators, the manipulator Jacobian, force relations, dynamics, & control. We will present techniques for geometric motion planning & obstacle avoidance. Open problems in trajectory generation with dynamic constraints will also be discussed. The course also presents the use of the same analytical techniques as manipulation for the analysis of images & computer vision. Low level vision, structure from motion, & an introduction to vision & learning will be covered. The course concludes with current applications of robotics.

Units: 4

Also Offered As: BIOENG C106A, MECENG C106A, EECS C106A

Prerequisites: Familiarity with linear algebra at the level of ELENG 64/ELENG 66 or Math 54. Experience coding in python at the level of COMPSCI 61A. Preferred: experience developing software at the level of COMPSCI 61B and experience using Linux.

Formats:
Fall: 3.0 hours of lecture, 1.0 hours of discussion, and 3.0 hours of laboratory per week
Summer: 6.0 hours of lecture, 2.0 hours of discussion, and 6.0 hours of laboratory per week
Spring: 3.0 hours of lecture, 1.0 hours of discussion, and 3.0 hours of laboratory per week

Grading Basis: Student Option

Final Exam Status: Alternate Method

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Class Schedule (Spring 2026):
EECS C106A/C206A – Tu 17:00-18:29, Hearst Field Annex A1; Th 17:00-18:29, Evans 10 – Jean-Paul Tennant

Class Notes
**Phase 1 and 2 seats are open to EECS, ECE, and CS Majors. Remaining seats open to non-EECS COE during the adjustment period.**

***Non-COE Majors cannot enroll or waitlist.***

Class Schedule (Fall 2026):
EECS C106A/C206A – TuTh 15:30-16:59, Hearst Field Annex A1 – Roberto Horowitz

Class Notes
Staff will be doing prerequsite checks during the adjustment period till add/drop.

Phase 1 and 2 seats are open to EECS, ECE, and CS Majors. Remaining seats open to non-EECS COE during the adjustment period.

Non-COE Majors cannot enroll or waitlist.

*To enroll in this class, select the lecture and the 999 (placeholder) discussion and 999L (placeholder) Lab sections. Assignment to the actual sections will be managed by teaching staff.*

Links:

• EECS Course Archives (CalNet authentication required)
• CS enrollment policies
• EE enrollment policies
• HKN course maps