Silva, ManuelTenreiro Machado, J. A.Lopes, António M.2019-04-092019-04-092003http://hdl.handle.net/10400.22/13505This paper analyzes the performance of a classical position PD algorithm and a new cascade controller, involving position and force feedback loops, for multi-legged locomotion systems. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. A group os indices measures the walking performance based on the robot and terrein dynamical properties and on the robot hit trajactories. A set of experiments reveals the performance of the control architectures in the viewpoint of the proposed indices.engWalking robotsControl algorithmsPID Control AlgorithmCascade controljournal article