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/ runs the controller for a 2D human model.

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

  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},
  publisher={Wiley Online Library}