Appling the forward kinematic of the biped robot with 12 DOF based denavit and hartenberg method

This paper presents Forward kinematics analysis for the Biped Robot Model (AK robot) and focuses on the considered lower body of a 12 DOF biped robot. Each leg modeled as a kinematic chain with Seven links connected by Six revolute joints. The Description and parameters of AK robot was introduced, also in this paper studied the forward kinematics that refers the analytical study. For describing robot kinematics was used Denavit & Hartenberg (D-H) [1] method, which shows that a general transformation between two joints requires four parameters. These parameters known as the D-H parameters of D-H notation which allows the step from a link to the following link by 4 basic transformations that depends only on the robot's constructive characteristics