Provided is {HEAD ~ a method} for determining {TAIL ~ a grounding timing} of a biped walking robot 
for determining
Provided is { HEAD ~ a method } for determining { TAIL ~ a grounding timing } of a biped walking robot
OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH