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