In this project, I aim to design and experiment with a controller for quadruped walking gait in a physics based simulation. A simplified and articulated dog model was designed with realistic dimensions. The controller is based on a finite state machine, where each state represents a target pose in the gait cycle. A simple balancing strategy was implemented.

a total of 148 groundwater samples were collected from bore wells from thirumanimuttar sub-basin for two seasons to identify major geochemical process activated to alter groundwater chemistry. the study revealed relationships with the lithology and anthropogenic process. groundwater in the region was dominated by na – ca – mg and cl and hco3 types. the (ca +mg) versus tz+ plot for both seas...

We study close to equilibrium properties of the one-dimensional Symmetric Inclusion Process (SIP) by coupling it to two particle-reservoirs at the two boundaries with slightly different chemical potentials. The boundaries introduce irreversibility and induce a weak particle current in the system. We calculate the McLennan ensemble for SIP, which corresponds to the entropy production and the fir...