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