In Indonesia research on Humanoid is limited to Kid-Size only, while for Teen-Size is still rare. This encourages teams and researchers to create a Teen-size humanoid called “FLoW”. To perform flexible movements like humans is not easy to do robot. Some of the problems that arise and become the focus of this research is to organize the movement of the robot in order to move, synchronize the movement in every parts of the humanoid robot, mathematical modeling and simulation of robot movement when standing. Taking into account the total kinematics of the humanoid robot, the movement of the robot can be overcome. With forwardinvers kinematics, researchers can determine a movement of the robot by controlling the motor part at a certain point. This section is an actuator of the robot. To do the modeling and simulation using D-H parameter and V-REP simulation software aid. Then for forward-invers kinematics can be implemented on the PID algorithm with the output of the speed on the motor that can form an angle on the motor to drive the robot. The expected result of this research is Humanoid Robot can move to follow the trajectory that has been determined. Making Humanoid Teen-Size robot is expected to increase research on Humanoid Teen-Size in Indonesia. In addition, this FLoW robot can be a supporting material and reference for the development of Humanoid Teen-Size next.