The grounding position determining step may determine the grounding position of {TAIL ~ the second leg} so that {HEAD ~ the calculated second leg ZMP position} is located in a contact area between the second leg and a ground 
The grounding position determining step may determine the grounding position of { TAIL ~ the second leg } so that { HEAD ~ the calculated second leg ZMP position } is located in a contact area between the second leg and a ground
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH