Catalog Description: This course is a sequel to EECS C106A/206A, which covers kinematics,dynamics and control of a single robot. This course will cover dynamics and control of groups of roboticmanipulators coordinating with each other and interacting with the environment. Concepts will includean introduction to grasping and the constrained manipulation, contacts and force control for interactionwith the environment. We will also cover active perception guided manipulation, as well as themanipulation of non-rigid objects. Throughout, we will emphasize design and human-robotinteractions, and applications to applications in manufacturing, service robotics, tele-surgery, andlocomotion.

Units: 4

Also Offered As: MECENG C206B, EECS C206B

Prerequisites: Students are expected to have taken EECS C106A / BioE C106A / ME C106A / ME C206A/ EECS C206A or an equivalent course. A strong programming background, knowledge of Python and Matlab, and some coursework in feedback controls (such as EE C128 / ME C134) are also useful. Students who have not taken EECS C106A / BioE C106A / ME C106A / ME C206A/ EECS C206A should have a strong programming background, knowledge of Python and Matlab, and exposure to linear algebra, and Lagrangian dynamics.

Formats:
Spring: 3.0 hours of lecture, 1.0 hours of discussion, and 3.0 hours of laboratory per week
Fall: 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: No

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Class Schedule (Spring 2026):
EECS C106B/C206B – TuTh 09:30-10:59, Soda 306 – Giuseppe Loianno, Sosale Shankar Sastry

Class Notes
*Please Read Carefully: Students need to have fulfilled the EECS/ME 106A/206A as a prerequisite for this course. We will be conducting prerequisite checks during the adjustment period. Those who have not completed the prerequisite will be dropped.*

Links:

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