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