This paper presents our experience of how a graduate research project on humanoid robots was successfully fused together with undergraduate design projects, which also resulted in successful spin-off teams for international robot competitions. The research portion of the project and some of the technical details of the development of the humanoid robot is presented, followed by discussions of the motivation, operation, results, and lessons learned for the organization of the undergraduate senior capstone design projects and the competition, including the roles of the graduate students as mentors. Our approach resulted in not only a successful sponsored research program, but also a number of awards in design competitions, international robot competitions, and best paper awards.

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