1. News

Update January 29

Solutions to the re-exam 26 January are posted below.

Update December 18

The re-exam is corrected and solutions are posted below.

Update December 12

Three PDF documents with lecture notes and an essay related to yesterday's guest lecture by Rasmus Einarsson are now available in the Dropbox folder.

Please note that all project presentations take place after lunch tomorrow, as noted in the updated lecture plan which we posted last week:

Wednesday 13 December 13:15–15:00
Preliminary project results presentations
• Groups 4, 5, 7, 9: Room FL51
• Groups 6, 8, 10: Room FL63

Update December 4

Times and places for project presentations are now fixed. See the updated lecture plan.

Update December 1

Reading materials for the last two seminars from Group 9 and Group 10 are now available in the Dropbox. Thanks to all groups for submitting their materials on time!

Update November 29

The re-exam is now scheduled in room SBM500, 13 December 2017, at 15.15-17.00. If you want to take the re-exam, please send an email to Rasmus no later than December 6 at 18.00.

Reading guide and literature for the seminar of Group 7 is now available in the Dropbox folder.

Update November 28

Group 8 have submitted their reading guide for their seminar on Monday 4 December. It's now available in the Dropbox folder.

Update November 24

Reading guides and literature for the three first seminars are posted in the Dropbox folder. Thanks to everyone involved for submitting your work on time.

Update November 22

As previously noted in an email, the seminars on Monday November 27th are canceled. The first seminars will be given on Wednesday November 29th:

  • 10.00-10.45: no seminar
  • 11.00-11.45: Group 4
  • 13.15-14.00: Group 5
  • 14.15-15.00: Group 6

Update November 20

Solutions to today's midterm exam are posted below (just below the link to the exam instructions). Individual results will be emailed to you today.

Update November 13

Slides from the guest lecture by Vilhelm Verendel are now available in the Dropbox.

Update November 8

Two papers on some evolutionary game-theoretic models are now available in the DropBox. And the Mathematica code for the model discussed today is available for download.

Update November 6

Assignment 2 and the midterm exam instructions are posted.

Update October 30

Kristian's Mathematica implementation of the Schelling segregation model is available for download.

Update October 29

Welcome to the course 2017! We will start with an introductory lecture on Monday, Oct. 30, in FL51.

The schedule with lecture rooms is available in TimeEdit.

2. General course information


Other online resources:

3. Assignments, seminars, projects, etc

Published in Course page
  1. Recent updates
  2. Course description
  3. Schedule
  4. Problem sets
  5. Exams
  6. Links


1. Recent updates

This course is held is during study period 1 and starts next in September 2014.


2. Course description



Senior Lecturer Dr. 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 students (1) a basic understanding of the theory of humanoid robots, i.e. bipedal walking robots with an approximately humanlike shape, and (2) practical knowledge concerning humanoid robots, through a robot construction project.

Learning outcome (after completion of this course, the student should be able to)


  • Understand and describe the specific properties of humanoid robots, and state-of-the-art.
  • Derive and apply the kinematic equations for a basic robot system.
  • Understand the different methods for bipedal gait generation, i.e. zero moment point, central pattern generators and linear genetic programming.
  • Describe other motor behaviours (such as e.g. dexterous manipulation) for humanoid robots.
  • Apply algorithms for computer vision.
  • Have a basic understanding of 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.
  • Describe 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 course knowledge in connection with a humanoid project




  • Introduction to humanoid robots
  • State of the art
  • Kinematics
  • Synthetization 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 a graded take-home exam and a project report. The obtained partial grades will weighted together for a final course grade. For the project grade the total accomplishment of the project, as well as organization and structure, and documentation (planning report and final report) contribute. Oral presentation of the project is mandatory, but not included in the grade.

3. Schedule

Please have a look on the external course webpage for more information.

4. Problem sets

Please have a look on the external course webpage for more information.

5. Exams

Please have a look on the external course webpage for more information.

6. Links

External course webpage: http://www.am.chalmers.se/~wolff/Courses/TIF160/

Published in Course page

The aim of the course is to give an introduction to fundamental concepts of game  theory and to explore the concept of rationality and a series of applications and extensions of game theory. We focus on the effects of individual rationality and also the aggregate behaviour between agents in a large population. What are general principles for rational action? How well does this describe human behavior in practice? 


The final content of the course can and will be influenced by the students attending it (i.e. other topics may be added to this list). Topics that were covered in last year’s version of the course include: 

Basic game-theoretic concepts, theory and principles of rational decision-making, backward induction and the rationality paradox, analysis of repeated interaction, tragedy of the commons, evolutionary game theory, public good games, agent-based models in economics, behavioural economics and the environment, bargaining theory and dynamic games. 

The course was developed by Kristian Lindgren and Erik Sterner following a request (from Erik and a few of his classmates) to Kristian, asking him if he could give a course in game theory. It was first given in 2010 and 2011. After a break and work on the course format the formal criteria for becomming an electable masters course was reached during 2013 and the course will be given starting autumn 2014 (Quarter 2).  

Published in Courses

In this course, we study humanoid robots, i.e. robots that have an approximately human-like shape. Such robots form an important special case of the autonomous robots studied in the course Autonomous agents. For example, unlike wheeled robots, a walking humanoid robot is (in principle) able to climb stairs and is also, in general, better adapted (than a wheeled robot) to environments designed for people.

The course begins with two weeks of lectures, during which the theoretical foundations of humanoid robots are explored. The remaining part of the course consists of lab work, during which several different humanoid robots are used for solving a variety of tasks, focusing on human-robot interaction.

Student portal page: http://www.student.chalmers.se/sp/course?course_id=17261

External course webpage: http://www.am.chalmers.se/~wolff/Courses/TIF160/

Published in Courses