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I - forward
K - backward
J - left
L - right
H - up
N - down
This is how they are set in the control settings. You can easily look that up for yourself in case you forget them. :)
Alternatively you can switch to docking mode in the bottom left corner.
This enables you to translate your craft with the WASD, Shift and Ctrl keys.
H - forward
N - backward
J - left
L - right
I - down
K - up
Key Bindings - http://wiki.kerbalspaceprogram.com/wiki/Key_Bindings