title: Controller 1

We provide a controller adapted from Song and Geyer, 2015.
The controller consists of physiologically plausible reflex circuits and shows that a fairly simple network can generate diverse locomotion behaviors.
In addition, one can use the model for imitation learning or for training a hierarchical control network.
An example code ./examples/sim_L2M2019_controller.py runs the controller for a 2D human model.

If you use the controller in your research, you can cite it as follows:

@article{song2015neural,
  title={A neural circuitry that emphasizes spinal feedback generates diverse behaviours of human locomotion},
  author={Song, Seungmoon and Geyer, Hartmut},
  journal={The Journal of physiology},
  volume={593},
  number={16},
  pages={3493--3511},
  year={2015},
  publisher={Wiley Online Library}
}