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