This paper describes the analysis and design of the humanoide robot R.H.1, made in the Robotics labs at the University Carlos III of Madrid. The R.H.1 is an autonomous humanoid robot that was conceived starting off of his predecessor, the RH-0. In spite of having a very similar morphology to its predecessor, it now includes with a new electronics, batteries and hardware on board. The R.H.1 is a humanoid robot build as an investigation platform to make the biped walk stable. Once this first stage was accomplished successfully, it is now conceived to interact with human being surroundings with or without the presence of these. This will entail to an extraordinary versatility of our humanoid but also the increase of weight made necessary a new mechanical and structural design, to be able to satisfy the current requirements. The robot design implied the creation of specifications to construct the same design from which himself on who the model chosen to walk in a dynamic way was set executed. The intention, was to obtain suitable specifications in order to obtain successfully the final model. As first step, the robot weights were calculated in order to obtain the inverse dynamics and to verify the actuators. Later, the “mechanical requesting” were calculated in order to verify the robot structural behavior during the different experimental gaits the robot was submitted to. Once the calculations were accomplished all those components that did not correctly work were redesign by CAD/CAM software, specially those that produced mechanical play. Another very important aspect to be considered in the design, is to correctly design those joints where the crossing of axes, calls “Joints of Rectangular Axes” (JRA) take place. The difficulty or challenge of these joints consist in trying to obtain two or more degree of freedom (DOF) in very little space. The RH-1 has several joints of rectangular axes, JRA, of second and third degree. Thanks to the observations obtained from the previous project and in spite of not to being a totally new robot, it has been optimized such in such a way that it could be considered as new. For this reason, it is our intention to transmit the acquired experience in this investigation, that we think it will be of great interest very useful for the robotics world.