How to evaluate and compare the performances of a robot’s leg with one and a same test bench? A unique test bench structure was designed and built. Like procedures used to evaluate human walk specific aspects, or test benches built to study insects’ locomotion, our test bench merges the commonly used structures in a one and a same setup, allowing to assess characteristics of the locomotion. The tested leg, attached to a vertical moving stage, walks on a 3D printed treadmill simulating the ground movement, according to three scenarios: 1) walking leg on a free treadmill (Giving an estimation of the locomotion characteristics), 2) walking leg on a resistive treadmill (Giving an estimation of the locomotion forces), 3) weight lifting (Giving an estimation of the structure resistance, leg maximal load and temperature).