The ZMP calculating step may calculate {HEAD ~ a second leg ZMP position} in {TAIL ~ a next single leg grounded period}, by solving a ZMP equation by giving a predetermined provisional grounding timing  
in
The ZMP calculating step may calculate { HEAD ~ a second leg ZMP position } in { TAIL ~ a next single leg grounded period } , by solving a ZMP equation by giving a predetermined provisional grounding timing
OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH