This method may include a ZMP calculating step and {HEAD ~ a grounding position} determining {TAIL ~ step} 
determining
This method may include a ZMP calculating step and { HEAD ~ a grounding position } determining { TAIL ~ step }
OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL