$L_i$	The length of the link corresponding to joint i.
${\theta }_i$	Rotation angle of joint i.
$s_i$	Sine value of the rotation angle of joint i.
$c_i$	Cosine value of the rotation angle of joint i.
R	Rotation transformation matrix between coordinate systems.
${}^{G}V_B$	Generalized velocity of the robot body in the global coordinate system.
${}^{Li}\stackrel{.}{\theta }_p$	Input velocity in the coordinate system {Li} of the i-th robot leg.
$C_i$	Contact position of the robot leg with the global coordinates.
$K_i$	Matrix related to the support point Ci of the i-th support leg.
${}^{G}C_m^s$	Contact point at the foot end of the m-th swinging leg.
${}^{G}V_X^{\alpha }$	Velocity vector of point X at the center of mass in the global coordinate system under situation 1.
${}^{G}V_Y^{\beta }$	Velocity vector of point X at the center of mass in the global coordinate system under situation 2.
${}^G\omega _B$	Angular velocity of point B at the center of mass of the body in the global coordinate system.
${}^{G}A_X^{\alpha }$	Acceleration vector of point X at the center of mass in the global coordinate system under situation 1.
${}^G\alpha _X^{\alpha }$	Linear acceleration component under the acceleration vector.
${}^G\epsilon _X^{\alpha }$	Angular acceleration component under the acceleration vector.
${}^{G}f_X^{m\alpha }$	Inertial force corresponding to the center of mass X.
${}^{G}n_X^{m\alpha }$	Inertial torque corresponding to the center of mass X.
${}^{Lm}F_q^{sm}$	Driving force of the m-th swinging leg in the robot leg coordinate system.
${\tau }_{d\mathrm{i}}^{sm}$	Driving force of the i-th joint of the m-th swinging leg.
${}^{G}F_{Xr}^{m{\beta }^{*}}$	Inertial force of any r-th component of the m-th swinging leg.
${}^{G}F_Y^{m{\mathrm{r}}^{*}}$	Inertial force of the r-th component of the m-th robot leg under the assembly function.
${}^{G}F_Z^{m{r}^{*}}$	Inertial force of any r-th component of the m-th support leg.
$F_W$	External force acting on the analysis object.
$K_j$	Generalized main force of the j-th degree of freedom.
$K_j^{*}$	Generalized inertial force of the j-th degree of freedom.