Gliding Joints are found between bones that meet at flat or mostly flat surfaces. They allow for gliding movement of the bones past each other.
Condyloid joints allow for two planes of movement in flexion, extension, adduction, abduction, and/circumduction. These generally follow a convex/concave relationship between the bones that are joined via this joint.
The peripheral nervous system is comprised of the somatic and autonomic nervous systems. The somatic nervous system transmits sensory and motor signals to and from the central nervous system.