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+---
+title: Controller 1
+---
+
+<script type="text/javascript"
+    src="http://cdn.mathjax.org/mathjax/latest/MathJax.js?config=TeX-AMS-MML_HTMLorMML">
+</script>
+
+We provide a controller adapted from [Song and Geyer, 2015](https://physoc-onlinelibrary-wiley-com.stanford.idm.oclc.org/doi/full/10.1113/JP270228).
+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}
+    }