Skill · Unitree Go2
Walk forward
A trotting rhythm whose size follows the “walk” pathway, so the robot walks only while it 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.
“walk”
- Pulse electrode
- 52at 10 Hz
- Read electrodes
- 44 45 51 53 59 60 61
- ON at
- 0.6spikes per electrode per 100 ms
We pulse electrode 52 at 10 Hz. When electrodes 44, 45, 51, 53, 59, 60 and 61 average at least 0.6 spikes per 100 ms, and twice the rate of the rest of the array, “walk” 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.
Walking is a rhythm, not a pose: diagonal leg pairs swing in turn (trot).
- Steps per second per leg
- 2
- Thigh swing
- 0.15 rad
- Knee lift
- 0.45 rad
- Swing forward, push back.
- Lift the foot while it swings forward.
03 The test
Moves only while cued.
Pulse ‘walk’ from 1 s to 4 s: the robot should walk forward only while pulsed, then stop.
It passes when
- 01Still before pulses
- 02Walks forward while pulsed
- 03Stops 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.
- 02Give paw1 pathway · 6 s testShift weight onto three legs, then lift the front-right paw, only while “paw” is ON.
- 03Lean left / right2 pathways · 7 s testTwo pathways: the robot leans its body to the left or to the right, whichever pathway is ON.
Unitree Go2
Train “Walk forward” on the Unitree Go2.
Choose a biocomputer, launch, and watch it calibrate, train and validate.