This paper presents an innovative undergraduate course framework in cognitive robotics that combines hands-on engineering experience with theoretical foundations in sensorimotor learning. The “Cognitive Robotics Project” course, offered in the third semester of a Humanoid Robotics program, enables students to design, construct, and program their own robots while understanding fundamental concepts of embodied cognition and sensorimotor exploration. The course consists of three parts: Hardware, Software, and Experiments. First, students solder custom-designed circuit boards and create 3D-printed robot designs. Then they implement sensorimotor behaviors using C programming. Finally, they conduct extensive experiments with their own hardware and software. The course’s unique approach not only teaches practical skills but also develops comprehensive understanding of the complete robotics development cycle. The course structure, technical framework, and educational outcomes are presented, demonstrating insights from the development and initial implementation of this course, including student-created robot designs.