Skill · Unitree Go2
Sit
The quadruped stands at rest and sits down only while the “sit” pathway is ON. (Standing is its home pose, so the trained command is “sit” rather than “stand up”.)
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.
“sit”
- Pulse electrode
- 20at 10 Hz
- Read electrodes
- 12 13 19 21 27 28 29
- ON at
- 0.6spikes per electrode per 100 ms
We pulse electrode 20 at 10 Hz. When electrodes 12, 13, 19, 21, 27, 28 and 29 average at least 0.6 spikes per 100 ms, and twice the rate of the rest of the array, “sit” 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.
Rear legs fold, front legs straighten: body pitched ~30 degrees nose-up, feet stay where they were.
Target pose “sit”
- front-left thigh
- 1.08 rad
- front-right thigh
- 1.08 rad
- front-left calf
- −1.26 rad
- front-right calf
- −1.26 rad
- rear-left thigh
- 1.95 rad
- rear-right thigh
- 1.95 rad
- rear-left calf
- −2.46 rad
- rear-right calf
- −2.46 rad
03 The test
Moves only while cued.
Pulse ‘sit’ from 1 s to 4 s: the robot should sit only while pulsed, then stand back up.
It passes when
- 01Sits while pulsed
- 02Stands before pulses
- 03Stands up 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.
- 01Give paw1 pathway · 6 s testShift weight onto three legs, then lift the front-right paw, only while “paw” 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 “Sit” on the Unitree Go2.
Choose a biocomputer, launch, and watch it calibrate, train and validate.