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Graduate courses

Departments' graduate courses for PhD-students.


Syllabus for

Academic year
TIF160 - Humanoid robotics  
Syllabus adopted 2015-02-20 by Head of Programme (or corresponding)
Owner: MPCAS
7,5 Credits
Grading: TH - Five, Four, Three, Not passed
Education cycle: Second-cycle
Major subject: Engineering Physics
Department: 42 - APPLIED MECHANICS

Teaching language: English
Block schedule: C
Maximum participants: 20

Course module   Credit distribution   Examination dates
Sp1 Sp2 Sp3 Sp4 Summer course No Sp
0107 Project 7,5 c Grading: TH   7,5 c    

In programs



Docent  Krister Wolff


In order to be eligible for a second cycle course the applicant needs to fulfil the general and specific entry requirements of the programme that owns the course. (If the second cycle course is owned by a first cycle programme, second cycle entry requirements apply.)
Exemption from the eligibility requirement: Applicants enrolled in a programme at Chalmers where the course is included in the study programme are exempted from fulfilling these requirements.

Course specific prerequisites

Basic mathematical and programming skills are required. It is recommended to be familiar with programming of microcontrollers. In addition, it is advantageous (but not absolutely necessary) to have taken the course FFR125 Autonomous Agents, or similar.


The course aims at giving the student (1) basic theoretical understanding of humanoid robots, i.e. bipedal walking robots with an approximately humanlike shape, and (2) engineering knowledge concerning humanoid robots, through the accomplishment of a robot construction project.

Learning outcomes (after completion of the course the student should be able to)

  • Understand and describe humanoid robots from a system perspective, and state-of-the-art.
  • Derive and apply the kinematic equations for a basic robot system.
  • Understand the different methods for bipedal gait generation and control, i.e. zero moment point (ZMP), central pattern generators (CPGs) and linear genetic programming (LGP).
  • Understand and describe other motor behaviours, such as e.g. dexterous manipulation, for humanoid robots.
  • Understand and apply basic algorithms for computer vision.
  • Have a basic understanding of computers, sensors, actuators and other hardware in connection with humanoid robots.
  • Discuss and describe the advantages and disadvantages of humanoid robotics in relation to other kinds of robots.
  • Discuss the potential roles of humanoid robots in society, w.r.t. social and ethical aspects, and applications.
  • Understand and discuss technical challenges with humanoid robots.
  • Apply the contents of the course in connection with a humanoid project.
  • Set up, organize and report a project with technical and/or scientific challenges.


  • Introduction to humanoid robots
  • State of the art
  • Kinematics
  • Synthetization and control of bipedal gait; CPGs, ZMP, LGP
  • Other motor behaviours
  • Robot vision
  • Behavior based robotics
  • Hardware for humanoid robots
  • Applications
  • Robot interaction
  • Humanoid robots in society
  • Project planning


The course consist of lectures and lab sessions. In the lectures, the theory of humanoid robotics is covered and some (individual) assignments are given out. Next, the students select a humanoid robot project which is carried out in groups of 2-4 students. The results obtained in the different projects should be demonstrated in the class and a written report must be handed in.

For further details, please refer to the course home page.


Lecture notes, scientific papers, and handouts. The material will be made available via the course web page.


The examination consists of mandatory home assignments and a mandatory project. The home assignments will be individually examined for each student. The projects will be examined both on a project group basis as well as on the individual student level.

In the project examination the over all accomplishment of the project, as well as organization and structure, documentation (planning report and final report), and oral project presentation contribute to the project grade.

The obtained partial grades will be fused together to a final course grade. Furthermore, in order to pass on the course, each student must attend all mandatory parts and contribute.

Page manager Published: Thu 04 Feb 2021.