One technology disclosed in the present specification provides {HEAD ~ a method} for determining {TAIL ~ the grounding position} and the grounding timing of a leg of a biped walking robot 
for determining
One technology disclosed in the present specification provides { HEAD ~ a method } for determining { TAIL ~ the grounding position } and the grounding timing of a leg of a biped walking robot
OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH