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