{HEAD ~ This method} may include a ZMP calculating step and a grounding position determining {TAIL ~ step} 
{ HEAD ~ This method } may include a ZMP calculating step and a grounding position determining { TAIL ~ step }
HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL