Skill · Unitree Go2
Give paw
Shift weight onto three legs, then lift the front-right paw, only while “paw” is ON.
Runs on the Unitree Go2 · Quadruped
01 Pathway
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 one.
“paw”
- Pulse electrode
- 22at 10 Hz
- Read electrodes
- 13 14 15 21 23 29 30
- ON at
- 0.6spikes per electrode per 100 ms
We pulse electrode 22 at 10 Hz. When electrodes 13, 14, 15, 21, 23, 29 and 30 average at least 0.6 spikes per 100 ms, and twice the rate of the rest of the array, “paw” 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.
Target pose “shift weight”
- front-left hip
- −0.3 rad
- rear-left hip
- −0.1 rad
- rear-right hip
- −0.1 rad
- front-left thigh
- 0.8 rad
- rear-left thigh
- 1.2 rad
- rear-right thigh
- 0.85 rad
- rear-left calf
- −2.3 rad
- rear-right calf
- −2.15 rad
Target pose “paw”
- front-right thigh
- −0.6 rad
- front-right calf
- −1 rad
Evidence accumulator: climbs while the pathway is ON and sinks while it is OFF (~0.8 s from rest to full), so brief flickers neither lift nor drop the paw. Its first half moves the weight onto the other three legs, its second half lifts the paw; on release the paw comes down before the weight moves back.
03 The test
Moves only while cued.
Pulse ‘paw’ from 1 s to 4 s: the front-right paw should lift only while pulsed.
It passes when
- 01Paw up while pulsed
- 02Paw down before pulses
- 03Paw down after pulses
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.
- 02Lean left / right2 pathways · 7 s testTwo pathways: the robot leans its body to the left or to the right, whichever pathway 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 “Give paw” on the Unitree Go2.
Choose a biocomputer, launch, and watch it calibrate, train and validate.