Progress in Computing Applications Meriem MENAD, Zoubir AHMED FOITIH 1 2 2012 http://www.dline.info/pca/fulltext/v1n2/3.pdf The work presented in this article is interested in a modeling of a humanoid robot. A new approach based on the synthesis of previous work and the analysis of human walking is proposed. The prototype is a humanoid robot designed to 18 DOF divided by six DOF in the arm, five DOF in the foot and a height of 172 cm of a humanoid. The modeling approach chosen is the Denavit Hartenberg, we considered the kinematic chain as a simple joint chain .In this paper, we will present the mechanical construction, direct geometric modeling, inverse geometric modeling and animation in building an upper humanoid robot in virtual environment.