It doesn't look like your router supports UPnP so port forwarding might be your best option for connecting.

Setting up a static IP address isn't a drama - it's not a static IP provided by your ISP but rather one that you set up so that your router can recognise your computer. The process looks a bit complicated when you first read it, but providing you go take your time & go through the steps carefully they you shouldn't have a problem

Have a read through the info here.
(a) Explains port forwarding: PortForward.com - Free Help Setting up Your Router or Firewall

(b) Explains about static IP: PortForward.com - Free Help Setting up Your Router or Firewall