When the calculated second leg ZMP position is out of the second leg ZMP permissible area, the grounding timing is modified so that {HEAD ~ the second leg ZMP position} is located in {TAIL ~ a second leg ZMP permissible area} which is defined corresponding to a possible grounding area of the second leg 
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When the calculated second leg ZMP position is out of the second leg ZMP permissible area , the grounding timing is modified so that { HEAD ~ the second leg ZMP position } is located in { TAIL ~ a second leg ZMP permissible area } which is defined corresponding to a possible grounding area of the second leg
OTH OTH 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 HEAD HEAD HEAD REL REL REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH