The grounding position determining {HEAD ~ step} may determine {TAIL ~ the grounding position} of the second leg so that the calculated second leg ZMP position is located in a contact area between the second leg and a ground 
determine
The grounding position determining { HEAD ~ step } may determine { TAIL ~ the grounding position } of the second leg so that the calculated second leg ZMP position is located in a contact area between the second leg and a ground
OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD OTH REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL 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