Journal of Intelligent Computing Meriem MENAD, Ziane DEROUICHE, Wahid NOUIBAT, Zoubir AHMED-FOITIH 4 3 2013 http://www.dline.info/jic/fulltext/v4n3/2.pdf We have already proposed a new approach to modeling the humanoid robot [1], the direct and inverse geometric model of the humanoid robot RH-ARP [2] This result complements the first study and is used for the practical realization of this prototype. The work presented in this paper is the kinematic modeling of robot RH-ARP, with 18 degrees of freedom (DOF), three degrees of freedom in each arm and six degrees of freedom per foot.