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