This paper presents the design process and the dynamic analysis of the 21 DOF humanoid robot RH-0, developed in the Robotics Lab. at the University Carlos III of Madrid. The main goal of the RH-0 prototype is to obtain a robot able to walk and to manipulate light objects and also to have recognition capability by means of a series of sensors located in its head. The present article tries to briefly describe the design and analysis process of the humanoid robot RH-0, and in detail the dynamic analysis, showing the experimental results which were carried out with the humanoid robot RH-0. © 2006 Springer-Verlag Berlin Heidelberg.