The ZMP calculating step may calculate a second leg ZMP position in {HEAD ~ a next single leg grounded period}, by solving {TAIL ~ a ZMP equation} by giving a predetermined provisional grounding timing  
The ZMP calculating step may calculate a second leg ZMP position in { HEAD ~ a next single leg grounded period } , by solving { TAIL ~ a ZMP equation } by giving a predetermined provisional grounding timing
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH REL REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH