More specifically, in this step, the second leg ZMP position may be calculated by solving the ZMP equation by giving {HEAD ~ boundary conditions} of {TAIL ~ a trajectory} of a center of gravity and a grounding timing of a second leg 
of
More specifically , in this step , the second leg ZMP position may be calculated by solving the ZMP equation by giving { HEAD ~ boundary conditions } of { TAIL ~ a trajectory } of a center of gravity and a grounding timing of a second leg
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH