Skill · Unitree Go2
Lean left / right
Two pathways: the robot leans its body to the left or to the right, whichever pathway is ON.
Runs on the Unitree Go2 · Quadruped
01 Pathways
How the neurons drive it.
A pathway is one cue: the electrode we pulse, the electrodes we read, and the rule that decides when it is ON. This skill has two.
“lean left”
- Pulse electrode
- 14at 10 Hz
- Read electrodes
- 5 6 13 15 21 22 23
- ON at
- 0.6spikes per electrode per 100 ms
We pulse electrode 14 at 10 Hz. When electrodes 5, 6, 13, 15, 21, 22 and 23 average at least 0.6 spikes per 100 ms, and twice the rate of the rest of the array, “lean left” is ON.
“lean right”
- Pulse electrode
- 49at 10 Hz
- Read electrodes
- 40 41 42 48 50 57 58
- ON at
- 0.6spikes per electrode per 100 ms
We pulse electrode 49 at 10 Hz. When electrodes 40, 41, 42, 48, 50, 57 and 58 average at least 0.6 spikes per 100 ms, and twice the rate of the rest of the array, “lean right” is ON.
These are the skill file’s starting electrodes, numbered column by column across the 8 × 8 array. Calibration moves each pathway onto electrodes your culture actually answers on and raises its ON threshold above resting noise.
02 Movement
What the Unitree Go2 does.
Legs on the leaning side bend, the other side straightens, hips keep the feet under the body.
Target pose “lean left”
- front-left hip
- 0.2 rad
- front-right hip
- 0.2 rad
- rear-left hip
- 0.2 rad
- rear-right hip
- 0.2 rad
- front-left thigh
- 1 rad
- rear-left thigh
- 1 rad
- front-left calf
- −2 rad
- rear-left calf
- −2 rad
- front-right thigh
- 0.8 rad
- rear-right thigh
- 0.8 rad
- front-right calf
- −1.6 rad
- rear-right calf
- −1.6 rad
Target pose “lean right”
- front-left hip
- −0.2 rad
- front-right hip
- −0.2 rad
- rear-left hip
- −0.2 rad
- rear-right hip
- −0.2 rad
- front-right thigh
- 1 rad
- rear-right thigh
- 1 rad
- front-right calf
- −2 rad
- rear-right calf
- −2 rad
- front-left thigh
- 0.8 rad
- rear-left thigh
- 0.8 rad
- front-left calf
- −1.6 rad
- rear-left calf
- −1.6 rad
Both poses move the same joints, so blend only the side that wins.
03 The test
Moves only while cued.
Pulse ‘lean left’ 1–3 s, then ‘lean right’ 4–6 s: each lean only in its own window.
It passes when
- 01Leans left in its window
- 02No right lean in left window
- 03Leans right in its window
- 04No left lean in right window
04 Proof
Proof it is the neurons.
Validation replays this test three times on the same spontaneous activity. The skill counts only if it passes with stimulation and fails under both controls; if it also passes without the neurons, it is marked invalid.
05 More skills
More for the Unitree Go2.
- 01Sit1 pathway · 6 s testThe quadruped stands at rest and sits down only while the “sit” pathway is ON.
- 02Give paw1 pathway · 6 s testShift weight onto three legs, then lift the front-right paw, only while “paw” is ON.
- 03Walk forward1 pathway · 8 s testA trotting rhythm whose size follows the “walk” pathway, so the robot walks only while it is ON.
Unitree Go2
Train “Lean left / right” on the Unitree Go2.
Choose a biocomputer, launch, and watch it calibrate, train and validate.