$S^P$	Position of center of mass of trunk
${\Theta }^P$	Trunk posture
a/b/c	Polynomial coefficients
θ/$\dot{\theta }$/$\ddot{\theta }$	Joint angle/joint angular velocity/joint angular acceleration
${}^i\omega {}_i^j$/${}^i\alpha {}_i^j$	Link angular velocity/link angular acceleration
${}^{i}a{}_i^j$/${}^{i}a{}_{ci}^j$	Joint acceleration/acceleration of the center of mass of the link
${}^{i}F{}_{\mathbf{I}k}$/${}^{i}M{}_{Ik}$/MG	Inertial force/inertia moment/total inertia moment
${}^{i}I{}_i^j$	Inertia tensor
XZMP/YZMP	Coordinates of ZMP
P/r	Position vectors
${}^{i}F{}_i^j$/${}^{i}M{}_i^j$/${}^i\tau {}_i^j$	Force between links/torque between links/drive torque
E	Energy consumption
Aj (xAj/yAj)	Landing point coordinates