You cannot define keys, but shift+M opens up the map and allows fast-travel, J is responsible for jump, U is for using enchanted items and potions (opens up a menu and pauses time), L opens up the journal, M opens up the local map, S shows your current status, R is what you use to rest, P activates pilfering mode, F1 looks at character stats, F2 tells you the coordinates of your current position, F3 does something with rolls that I'm not sure about, and F4 toggles pixelation.