This paper proposes a project-based learning (PBL) curriculum for the design of embedded systems using results from the Embedded System Symposium robot challenge contest in Japan. PBL is one of the best ways to learn software development. However, finding an appropriate PBL subject is a difficult task for professors. Moreover, development of an embedded system requires a variety of skills, such as software engineering, electrical engineering, control theory, and mechanical engineering. To conduct PBL for real embedded system development, we need to assemble students and professors from various disciplines. Therefore, we commence the development of an interdisciplinary university PBL curriculum using the robot challenge. This paper presents the half-year curriculum and its results.