In this paper, we summarize our experiences from teaching a course in humanoid robotics at Chalmers University of Technology in Goteborg, Sweden. We describe the robotic platform used in the course and we propose the use of a custom-built robot consisting of standard electronic and mechanical components. In our experience, by using standard components, the students obtain a deeper understanding of robotics hardware than would be possible with the use of (some) commercially available robot kits such as e.g. Boe-Bot or Lego Mindstorms. Furthermore, we propose a division between time spent on teaching the theoretical background and time spent on robot assembly and programming, which, in our view, provides the optimal balance between theory and practical work. Summarizing briefly, for a seven-week course, we propose two weeks of theoretical background lectures, followed by five weeks of practical work, in which each practical session starts with a brief theory demonstration. (Contains 1 table and 2 figures.)