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: BIO ENG C106A, MEC ENG C106A

Prerequisites: Familiarity with linear algebra at the level of EECS 16A/EECS 16B 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.

Credit Restrictions: Students will receive no credit for Electrical Engineering and Computer Science C106A/Bioengineering C106A after completing EE C106A/BioE C125, Electrical Engineering 206A, or Electrical Engineering and Computer Science 206A.

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: letter

Final Exam Status: Alternative method of final assessment

---

Class Schedule (Fall 2025):
EECS C106A/C206A – TuTh 14:00-15:29, Dwinelle 145 – Roberto Horowitz

Class Notes
Phase 1 and 2 seats are open to EECS 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.*

**Enrollment Permission seats are reserved for internal programs and are not open. Please DO NOT email the instructor or scheduling to request a seat**

Links:

• CS enrollment policies
• EE enrollment policies
• HKN course maps