• ControllerMode : OpenHRP::AutoBalancerService , OpenHRP::ImpedanceControllerService , OpenHRP::StabilizerService
• ControlMode : OpenHRP::AccelerationFilterService
• DetectorMode : OpenHRP::ObjectContactTurnaroundDetectorService
• DetectorTotalWrench : OpenHRP::ObjectContactTurnaroundDetectorService
• EmergencyCheckMode : OpenHRP::StabilizerService
• GaitType : OpenHRP::AutoBalancerService
• interpolationMode : OpenHRP::SequencePlayerService
• KFAlgorithm : OpenHRP::KalmanFilterService
• OrbitType : OpenHRP::AutoBalancerService
• STAlgorithm : OpenHRP::StabilizerService
• StrideLimitationType : OpenHRP::AutoBalancerService
• SupportLegState : OpenHRP::AutoBalancerService
• SwitchStatus : OpenHRP::RobotHardwareService
• UseForceMode : OpenHRP::AutoBalancerService