LIP	Linear inverted pendulum
SLIP	Spring-loaded inverted pendulum
HQP	Hierarchical quadratic programming
WQP	Weighted quadratic programming
WBC	Whole-body control
IK	Inverse kinematics
pid	Proportional integral derivative
RKP	Real-time kinematic programming
TP-MPC	Three-particle model predictive control
CoM	Center of mass
ZMP	Zero-moment point
DoF	Degrees of freedom
QP	Quadratic programming
LQR	Linear quadratic regulator
RL	Reinforcement learning