Silva, Manuel F.2015-12-022015-12-022003http://hdl.handle.net/10400.22/70586th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Catania, Italy, 17-19 SeptemberThis paper analyzes the performance of hexapod robot under the action of a cascade controller involving position and force feedback loops. In order to evaluate the system properties we formulate several measures of the walking system based on the system dynamics and the trajectory errors. Simulation experiments reveal the influence of the different control algorithms upon the proposed indices.engbook part