1. News

Update October 6

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

General lecture and seminar time is Monday 10-12 and Wednesday 10-12 + 13-15.

The schedule with lecture rooms is available in TimeEdit.

Note: The corse information below is from last year and will be updated the week before course start.


2. General course information


Other online resources:

3. Assignments, seminars, projects, etc

4. News archive from the course 2016

December 9

Reading guide and articles from group 12 now posted on Ping Pong.

December 8

Reading guides and articles for seminars by groups 7, 8, 10 are now posted on Ping Pong.

December 5

Preparation materials for seminars 3, 5, 6 are now available in the Documents section on Ping Pong.

We have agreed to make a slight rescheduling on Wednesday since group 4 will not host a seminar:

  • Seminar group 3: Wednesday 7 December 10.00-10.45
  • Seminar group 5: Wednesday 7 December 11.00-11.45
  • Seminar group 6: Wednesday 7 December 13.15-14.00

November 30

Preparation materials for the two first seminars (to be held on Monday 5 December) are now available in the Documents section on Ping Pong.

November 29

Slides from Vilhelm Verendel's guest lecture on collective action are now available in the Documents section on Ping Pong.

We are closing in on the student-led seminars. Please make sure you know your deadlines: submit the reading guide no later than five days before your seminar. If your seminar is on a Monday, submit at latest the Wednesday before; if the seminar is on a Wednesday, submit at latest on the Friday before.

November 24

The code for the prisoner's dilemma tournament (including all submitted strategies) is now posted in the Documents section on Ping Pong. You can run the simulations yourself or just open the Mathematica notebooks to look at precomputed results.

November 21

The guest lecture on Wednesday 23 November at 10.00 by Ove Granstrand on "Cooperative games – theory and experimental economics" will be based on Ch. 7 of the course book.

Materials for Erik Sterner's example seminar on Wednesday 23 November at 13.15 are now available on Ping Pong (under Documents/Seminars).

Some ideas for effective peer feedback are now posted under Section 3 below.

November 20

Short presentations of project ideas on Monday 21st is done in the two lecture halls FL41 and FL51.
In FL41 we have the groups A, B, E, F, I, J, K, L, and
in FL51 we have the groups C, D, G, H, M, N, O, P.
You give a <5 minute presentation of the project idea, allowing time for 5 min discussion; using words and white/black board is fine; if you want to use a slide (pdf, ppt, key) please email Kristian and Rasmus a copy in advance.

The Mathematica code for the two interactive Prisoner's Dilemma lattice models from the Wednesday lecture is available for download.

November 15

Assignment 3 is out. See instructions below.

Slides from Vilhelm Verendel's guest lecture on rationality can now be found in the Documents section on Ping Pong.

November 9

All the submitted game ideas are now posted under Documents/Game ideas on Ping Pong.

A Mathematica notebook with the evolutionary game shown in today's lecture is available under Documents/Lectures/9 November on Ping Pong.

Additional reading on evolutionary games can be found in the Documents section on Ping Pong under Recommended reading. Today's lectures built partly on Lindgren (1991) and Lindgren (1997).

November 8

The second assignment is out! Check under Section 3 below. Questions and answers at beginning of morning lecture on Wednesday.

November 4

Lectures 2-3 on Wednesday covered most of Chapters 1, 2 & 4 from the course book. At lecture 4 on Monday 7th, we will focus on repeated games (finite and infinite) and the Folk Theorem, i.e., Chapter 6. Recommended additional reading giving a broader picture of the basics of game theory and its applications, especially the work by Nash and Schelling, is the two papers by Roger Myerson. The papers are available in the Documents section on Ping Pong (under "Recommended reading/Introduction to game theoretic concepts").

The first assignment must be submitted before 18:00, Monday 7th. This is already announced in the "General course information…".

It is important that you read all information in the documents we have posted on this page (see below) since they describe in detail what is expected from you, including deadlines, forming groups for seminars and projects, etc.


November 3

The additional sessions for project preliminary results have been rescheduled. They are now all in the A block and we will run in parallel in two lecture rooms, on Monday, Dec. 12, 8:00-9:45, and on Wednesday, Dec. 14, 15:15-17:00. This is now also reflected in Time Edit and in the documents below. Slides and Mathematica code from the Introductory lecture are available in the Documents section on Ping Pong. We will continue putting slides there as we go along.

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