This　paper　decribes　the　progress　of　an　humanoid　biped　robot　project　and　mainly　focuses　on　its　mechanical　design　and　kinematics　analysis.　This　project,　which　started　in　2009,　is　aiming　at　the　realization　of　the　lower　part　of　an　humanoid　biped　robot.　As　the　first　step　to　finish　the　biped　robot＇s　overall　development,　a　novel　mechanical　structure　was　designed　with　two　legs,　two　feet　and　a　pelvis.　It　has　12　degrees　of　freedom.　The　robot＇s　body　shape　and　mass　distribution　is　similar　to　that　of　an　adult　with　the　purpose　to　get　an　ideal　stable　walking　movement.　In　this　paper,　first　we　discuss　the　robot＇s　basic　configuration,　joints　structure,　transmitters,　and　sensors,　second　an　approach　to　the　analysis　of　one　leg＇s　forward　kinematics　and　inverse　kinematics　is　introduced.　©　2011　IEEE.