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title: Controller 1

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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}

    }