the modified grounding timing is computed so as to satisfy {HEAD ~ the ZMP equation} under the first leg ZMP restraint condition and {TAIL ~ the second leg ZMP restraint condition} 
under
the modified grounding timing is computed so as to satisfy { HEAD ~ the ZMP equation } under the first leg ZMP restraint condition and { TAIL ~ the second leg ZMP restraint condition }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL