One technology disclosed in the present specification provides a method for determining the grounding position and {TAIL ~ the grounding timing} of a leg of {HEAD ~ a biped walking robot} 
One technology disclosed in the present specification provides a method for determining the grounding position and { TAIL ~ the grounding timing } of a leg of { HEAD ~ a biped walking robot }
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD