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 robotic manipulators coordinating with each other and interacting with the environment. Concepts will include an introduction to grasping and the constrained manipulation, contacts and force control for interaction with the environment. We will also cover active perception guided manipulation, as well as the manipulation of non-rigid objects. Throughout, we will emphasize design and human-robot interactions, and applications to applications in manufacturing, service robotics, tele-surgery, and locomotion.

Units: 4

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: letter

Final exam status: No final exam

Also listed as: MEC ENG C206B

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Class Schedule (Spring 2024):
EECS C106B/C206B – TuTh 14:00-15:29, Mulford 159 – Sosale Shankar Sastry

Class homepage on inst.eecs