CFL	compressed flight phase
CoM	center of mass
CWT	continuous wavelet transform
DFT	discrete Fourier transforms
EFL	extended flight phase
FFT	fast Fourier transform
GPS	global positioning system
GRF	ground reaction force
HFR	high frame rate
iKMS	integrated kinematic measurement system
IMU	inertia measurement unit
LF	left fore-leg
LH	left hind-leg
RF	right fore-leg
RH	right hind-leg