A criterion to determine the existence of zero-energy edge states is discussed for a class of particlehole symmetric Hamiltonians. A "loop" in a parameter space is assigned for each one-dimensional bulk Hamiltonian, and its topological properties, combined with the chiral symmetry, play an essential role. It provides a unified framework to discuss zero-energy edge modes for several systems such as fully gapped superconductors, two-dimensional d-wave superconductors, and graphite ribbons. A variants of the Peierls instability caused by the presence of edges is also discussed.Depending on several parameters such as hopping integrals or chemical potentials, and also on underlying crystalline lattices, a large variety of electronic structures are realized in condensed matter physics. Electron correlations also give rise to a plenty of quantum phases, forming non-trivial quasi-particle band structures. An interesting consequence of a rich band structure is the existence of edge states that may appear when boundaries are present. In the quantum Hall effect (QHE), this issue was discussed in terms of the origin of the quantization of a Hall conductance. [1,2,3,4,5] Recently, the ideas developed in the QHE have also been extended for other gapped many-body systems, and become essential to describing topological nature of several quantum phases. [6,7,8,9,10,11] Apart from these examples for gapped systems, edge states in gapless systems have attracted much attention recently. Example of these are d-wave superconductor (SC) with edges [12,14], or graphite ribbons [15], where the existence of edge states strongly depends on the shape of edges. For d-wave SC with edges, the zero bias conductance peak (ZBCP) due to zero-energy edge states was observed via a tunneling spectroscopy. [16,17] The issue addressed in this Letter is how to infer the existence of zero-energy eigen states localized on the boundaries in terms of properties of the bulk, and the symmetry. We first consider one-dimensional (1D) systems with a particle-hole symmetry, and then apply the results to systems in higher dimensions. Especially, we will demonstrate applications to fully gapped SC in conjunction with the Chern number, 2D d-wave SC, and graphite ribbons. In addition to these examples, the present work is also applicable to zero-modes in the 1D molecule polyacetylene [18], and quantum spin systems.We start with the following single-particle Hamiltonian on a 1D lattice: