Most movement tasks are defined in coordinate systems that are different from the actuator space in which motor commands must be issued. Hence, movement planning and learning in task space require appropriate coordinate transformations from task to actuator space before motor commands can be computed. Therefore to move the biped robot to the desired point, the Denavit-Hartenburg (DH) algorithm is being used to provide a matrix method to derive the forward kinematic solution. The forward kinematic analysis is described in this paper.