The grounding position determining step may determine the grounding position of the second leg so that the calculated second leg ZMP position is located in {HEAD ~ a contact area} between {TAIL ~ the second leg} and a ground 
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The grounding position determining step may determine the grounding position of the second leg so that the calculated second leg ZMP position is located in { HEAD ~ a contact area } between { TAIL ~ the second leg } and a ground
OTH 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 REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH