Before revision:  3 ) Modeling Dynamics for Toe foot biped model using Lagrange Dynamics along with contact modeling using spring damper system , and finally 4) Real time joint angle trajectory tracking optimization using Temporal Quantized Lagrange Dynamics which takes inverse kinematics output from neural network as its inputs.
After revision:  3 ) Modeling Dynamics for Toe foot biped model using Lagrange Dynamics along with contact modeling using spring-damper system followed by developing Neural Network Temporal Quantized Lagrange Dynamics which takes inverse kinematics output from neural network as its inputs.