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 the second leg and {TAIL ~ a ground} 
between
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 the second leg and { TAIL ~ 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 OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL