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}
}