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