\addcontentsline{toc}{chapter}{Notation and Acronyms}

This section summarises the acronyms and mathematical symbols used throughout the thesis.
Unless otherwise stated, symbols are defined locally when first introduced; this glossary
serves as a global reference to avoid ambiguity.

\section*{Acronyms}

\begin{table}[h]
\centering
\begin{tabular}{ll}
\hline
\textbf{Acronym} & \textbf{Meaning} \\
\hline
SEA   & Series Elastic Actuator \\
C-SEA & CVT-enhanced Series Elastic Actuator \\
CVT   & Continuously Variable Transmission \\
DI    & Drag Inducer \\
RW    & Reaction Wheel \\
SLIP  & Spring-Loaded Inverted Pendulum \\
IP    & Inverted Pendulum \\
CFD   & Computational Fluid Dynamics \\
LQR   & Linear Quadratic Regulator \\
MPC   & Model Predictive Control \\
GUI   & Graphical User Interface \\
\hline
\end{tabular}
\end{table}

\newpage

\section*{Symbols}

\begin{table}[h]
\centering
\begin{tabular}{lll}
\hline
\textbf{Symbol} & \textbf{Description} & \textbf{Chapter(s)} \\
\hline
$\theta$ & Vector of generalised coordinates  & 3 \\
$\theta_1$ & Leg/body angle in inverted pendulum model & 3 \\
$\theta_2$ & Tail angle relative to leg in inverted pendulum model & 3 \\

$\phi$ & Body pitch angle in integrated jumping robot model & 6 \\

$l_1$ & Half-length of the leg in inverted pendulum model & 3 \\
$l_2$ & Half-length of the tail in inverted pendulum model & 3 \\
$l_D$ & Effective lever arm of aerodynamic drag force & 3, 4 \\

$m_1$ & Mass of the leg (IP model) & 3 \\
$m_2$ & Mass of the tail (IP model) & 3 \\
$m_3$ & Mass of the body (IP model) & 3 \\
$m_r$ & Total mass of the robot & 5, 6 \\
$M$ & Mass of the robot body in C-SEA model & 5 \\
$M_2$ & Moving mass of the actuator in C-SEA model & 5 \\

$k$ & Spring stiffness of the elastic element & 5 \\
$K$ & Controller gains & 3 \\

$G_r$ & Transmission ratio of CVT & 5 \\
$G_0$ & Intercept constant in CVT model & 5 \\
$R$ & Gradient constant in CVT model & 5 \\

$C_d$ & Aerodynamic drag coefficient & 3, 4, 6 \\
$\rho$ & Air density & 3, 4 \\
$A$ & Effective frontal area of drag-inducing component & 3, 4 \\
$v$ & Local flow velocity relative to drag-inducing component & 3, 4 \\

$\tau$ & Torque (generic) & 3--6 \\
$F$ & Force (generic) & 4--6 \\

$E$ & Energy per jump cycle & 5, 6 \\
$h$ & Jump apex height & 5, 6 \\
$\sigma$ & Standard deviation of horizontal velocity & 6 \\
\hline
\end{tabular}
\end{table}
