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The development of anthropomorphic prosthesis is an area of research that has attracted the attention of research centers worldwide. The application of knowledge in the robotics field has made increasingly intelligent devices. The robotic prostheses for lower limbs have a greater complexity because they can substantially influence the posture and mobility of its user. The mathematical tools used in the development of robots can be applied to the modeling of prosthesis and has great importance for the implementation of their control. This paper develops a mathematical model applied to a robotic foot prosthesis with 2 degrees of freedom. The Denavit- Hartenberg algorithm is a very effective tool in a representation where kinematic can extract various relationships that allow relating orientation and position. Ultrasound sensors can make the orientation of the foot with relation the ground. The human gait is also a major factor in the control of a robotic foot prosthesis and can be analyzed as standing behavior criterion. [ABSTRACT FROM AUTHOR]