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