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

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 2027):
EECS C106B/C206B – MoWe 15:30-16:59, The Gateway Building B1022 – Giuseppe Loianno

Class Notes
Phase 1 and 2 seats are open to EECS MEng and EECS/CS PhD. Remaining seats open to other EECS grad students & non-EECS COE during the adjustment period.

Non-EECS grad students are not permitted to take this course, even if seats become available in the adjustment period.

Prerequisite: EECS/ME 106A/206A
We will be conducting prerequisite checks during the adjustment period. Those who have not completed the prerequisite will be dropped.

*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:

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