Glavni rezultat istraživanja je analiza uticaja parametara na performanse antropomorfnog hoda.   Analiziran je uticaj parametara na ponašanje: kompenzacionih pokreta; maksimalne vrednosti pogonskih momenata i snage u toku punog koraka za sve aktuatore; skoka ubrzanja trupa u frontalnoj i sagitalnoj ravni pri prelasku tačke nula momenta (TOM) ispod jedne pod drugu nogu; ukupne snage svih aktuatora i maksimalne vrednosti vertikalne komponente sila reakcije.  Za ovu analizu izdvojeni su sledeći parametri: dužina koraka; period trajanja koraka; Zakon TOM-a i period trajanja dvooslonačke faze. The main research result is analysis of the parameters’ impact on the anthropomorphic walk performances.  The analysis covered parameters’ impact on behavior of: compensating movements; maximal values of the driving moments and power during the full step for all actuators; rise of the body’s acceleration in frontal and sagittal plane during the transition of the zero-moment-point (ZMP) from bellow one foot to bellow another foot; total power of all actuators and maximal value of the vertical component of the reaction force.  For this analysis the following parameters are considered: step length; step duration period; ZMP law and the period of the double-support phase duration.