  We propose a realization of the electric-field-induced antiferromagnetic
resonance. We consider three-dimensional antiferromagnetic insulators with
spin-orbit coupling characterized by the existence of a topological term called
the $\theta$ term. By solving the Landau-Lifshitz-Gilbert equation in the
presence of the $\theta$ term, we show that, in contrast to conventional
methods using ac magnetic fields, the antiferromagnetic resonance state is
realized by ac electric fields along with static magnetic fields. This
mechanism can be understood as the inverse process of the dynamical chiral
magnetic effect, an alternating current generation by magnetic fields. In other
words, we propose a way to electrically induce the dynamical axion field in
condensed matter. We discuss a possible experiment to observe our proposal,
which utilizes the spin pumping from the antiferromagnetic insulator into a
heavy metal contact.
