Electrical Engineering 106B — (0 Units)
EE106B is a project course focusing primarily on robotics and control, with a little bit of computer vision. The course provides an introduction to the kinematics, dynamics, and control of robot manipulators, robotic vision, and sensing. Also, EE106B covers forward and inverse kinematics of serial chain manipulators, the manipulator Jacobian, force relations, dynamics, and control and presents elementary principles on proximity, tactile, and force sensing, vision sensors, camera calibration, stereo construction, and motion detection. The course concludes with current applications of robotics in active perception, medical robotics, and other areas.
- Manipulator Kinematics, Dynamics and Control
- Coordinate transforms
- Forward and inverse kinematics
- Manipulator dynamics
- Position control and trajectory generation
- Force control and force strategies
- "Black box" human operator models
- Network modeling of human, teleoperator, and environment
- Teleoperator design: stability and fidelity
- Sensing for Robotics
- Contact sensing: tactile and force sensors
- Proximity sensing: acoustic, infrared
- Introduction to computer vision: 2-D and 3-D vision, visually guided navigation and manipulation
- Robot Planning
- Task level programming
- Configuration space
- Gross motion planning: obstacle avoidance
- Fine motion and force strategies: assembly, insertion
- Basic grasping
- Integration of planning, sensing, and control: applications and examples
- Robotics in Society
- Applications of robotics and teleoperation
- Safety in interaction between robotics and humans
- Ethical issues in applications: medical, defense, industry
- One major final project ???
Choosing the Course
When to take
If you are interested in robotics, take this class as soon as possible, preferably after you complete EE120.
EE106B opens the door to more specialized classes in the field of robotics, such as CS280 (Computer Vision) and CS287 (Advanced Robotics).
Usefulness for Research or Internships
Research and Internships: Since the class has a major final project, a strong final project can help you get research positions and internships in robotics and related fields.