I remember that when starting with Pi a few years ago (see this 2.5 year old question), it was impossible to SSH the Pi (without screen / keyboard / mouse) from computer with a USB cable only.
One had to use an ethernet cable, set up a network using a router, etc. It has to be noted that direct connection PC <--> Pi with an ethernet cable, without router, is quite complex to set up (I lost a few hours about this with Windows...)
I've recently seen that, with another similar board (maybe CubieBoard or another one?), there was a very-simple-to-use direct connection PC <--> Pi with a single USB cable.
Is this available in a recent version of Raspberry Pi (i.e. RPI3) or with a specific version of Raspbian?