| Abbreviations | Full name |
| WBRs | Wheeled Bipedal Robots |
| LQR | Linear Quadratic Regulator |
| VMC | Virtual Model Control |
| PID | Proportional-Integral-Derivative |
| PD | Proportional-Derivative |
| CG Height | Center of Gravity Height |
| IDA-PBC | Interconnection and Damping Distribution-Passive Control |
| UKF | Unscented Kalman Filter |
| IMU | Inertial Measurement Unit |
| CAN | Controller Area Network |
| RMSE | Root Mean Square Error |
| ITAE | Integral of Time-Weighted Absolute Error |
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