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EECS C106A/206A | Introduction to Robotics

Fall 2022

Koushil Sreenath

Koushil Sreenath



Shankar Sastry

Shankar Sastry



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Course Description

This course is an introduction to the field of robotics. It covers the fundamentals of kinematics, dynamics, and control of robot manipulators, robotic vision, and sensing. The course deals with forward and inverse kinematics of serial chain manipulators, the manipulator Jacobian, force relations, dynamics, and control. It presents elementary principles on computer vision and robot motion planning. The course concludes with current applications of robotics in active perception, medical robotics, autonomous vehicles, and other areas.

The lectures are supplemented with homeworks and experimental work in the laboratory using several Baxter, Sawyer, and TurtleBot robots. There are two midterms, but no final exam. The last month of the course is devoted to the design and implementation of a final project, carried out individually or in groups of approximately four students.