Electrical Engineering 106B — (0 Units)

Course Overview

Summary

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.

Prerequisites

EE106A
EE120

Topics Covered

Manipulator Kinematics, Dynamics and Control
Coordinate transforms
Forward and inverse kinematics
Manipulator dynamics
Position control and trajectory generation
Force control and force strategies
Tele-operation
"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

Workload

Course Work

One major final project ???

Time Commitment

???

HKN Tips

Choosing the Course

When to take

If you are interested in robotics, take this class as soon as possible, preferably after you complete EE120.

What next?

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.

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