Kinematic analysis of phantom AX12 robot is discussed in this paper. Each leg contains three revolute joints in order to mimic the structure of an insect. Denavit-Hartenberg (D-H) conventions are used to perform kinematic analysis of the six-legged robot. To develop the overall kinematic model of phantom ax12 robot, direct and inverse kinematic analyses for
each leg have been considered. Trajectory of each leg is also considered for both swing and support phases. In swing phase analysis, cubic and quantic polynomials are used. The proposed model is then implemented and visualized to verify its performance in comparison with an actual phantom ax12 robot.