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