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