This paper describes the verification of response speed and energy efficiency in compliance control. In compliance control, robots detect the external force and modify the trajectory depending on virtual impedance. In conventional compliance control, the control drive robots as soft for environment because robots are hardness. However, robots should be drived as both soft and hard to achieve dinamic locomotion. We verify the other approach of compliance control which is different from conventional control method. In conventional method, force gain is changed to control the stiffness, yet this method is not suitable from the efficiency point of view. This paper mentions also the stability of compliance controller. In the proposed approach, it is shown that virtual stiffness and damping should be designed respectively. The validity of the proposed method is shown by experimental results.