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

Prerequisites: Familiarity with linear algebra at level of EECS 16A/EECS 16B or MATH 54. Experience doing coding in python at the level of COMPSCI 61A. Preferred: experience developing software at level of COMPSCI 61B and experience using Linux. EECS 120 is not required, but some knowledge of linear systems may be helpful for the control of robots.

Formats:
Fall: 3.0 hours of lecture, 1.0 hours of discussion, and 3.0 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: No final exam

Also listed as: MEC ENG C206A

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Class Schedule (Fall 2024):
EECS C106A/C206A – TuTh 14:00-15:29, Dwinelle 145 – Roberto Horowitz

Class homepage on inst.eecs