Firstly, a ZMP equation which represents {HEAD ~ a trajectory} of a center of gravity including a first single leg grounded period in which the robot stands only with a first leg and a second single leg grounded period in which {TAIL ~ the robot} stands only with a second leg, following the first single leg grounded period, is solved using a predetermined grounding timing 
Firstly , a ZMP equation which represents { HEAD ~ a trajectory } of a center of gravity including a first single leg grounded period in which the robot stands only with a first leg and a second single leg grounded period in which { TAIL ~ the robot } stands only with a second leg , following the first single leg grounded period , is solved using a predetermined grounding timing
OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH 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 OTH OTH