Provided is {TAIL ~ a method} for determining {HEAD ~ a grounding timing} of a biped walking robot 
Provided is { TAIL ~ a method } for determining { HEAD ~ a grounding timing } of a biped walking robot
OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH