Humans and other animals can quickly respond to unexpected terrains during walking, but little is known about the cortical dynamics in this process. To study the impact of unexpected terrains on brain activity, we allowed rats with blocked vision to walk on a treadmill in a bipedal posture and then walk on an uneven area at a random position on the treadmill belt. Whole brain EEG signals and hind limb kinematics of bipedal-walking rats were recorded. After encountering unexpected terrain, the θ band power of the bilateral M1, the γ band power of the left S1, and the θ to γ band power of the RSP significantly decreased compared with normal walking. Furthermore, when the rats left uneven terrain, the β band power of the bilateral M1 and the α band power of the right M1 decreased, while the γ band power of the left M1 significantly increased compared with normal walking. Compared with the flat terrain, the θ to low β (3–20 Hz) band power of the bilateral S1 increased after the rats contacted the uneven terrain and then decreased in the single- or double- support phase. These results support the hypothesis that unexpected terrains induced changes in cortical activity.

Background: A rat robot can be constructed by electrically stimulating specific brain regions to control rat locomotion and behavior. The rat robot makes full use of the rat’s motor function and energy supply and has significant advantages in motor flexibility, environmental adaptability, and covertness. It can be widely used in disaster search and rescue, terrain survey, anti-terrorism, and explosion-proof tasks. However, the motor control of existing rat robots mainly relies on the virtual whisker touch produced by the electrical stimulation of the barrel area of the somatosensory cortex and the virtual reward generated by the electrical stimulation of the medial forebrain bundle. The methods requires substantial experimental training to encourage the animals to match the virtual sensation with the motor behavior. However, the conditioned reflexes acquired by the animals will gradually disappear after a period of time at the end of the experiments, which will lead to a decrease in the stability of the motor control system. Methods: In this study, we developed a new method to gain control of inclined movement in rats by the electrical stimulation of the ventral tegmental area (VTA) of the midbrain and motor control of steering in rats by the electrical stimulation of nigrostriatal (NS) pathway. Results: The results showed that the electrical stimulation of the rat VTA could induce stable inclined movement in rats and that the neuromodulatory effect significantly correlated with the electrical stimulation parameters. In addition, the electrical stimulation of the NS pathway was able to directly and stably induce the steering movements of the head and trunk to the contralateral side of the stimulated side of the rat. Conclusions: These findings are of great importance for the motor control of rat robots, especially in the field environment with many slopes. In addition, the rat robot constructed based on this method does not need pre-training while ensuring reliability, which greatly improves the preparation efficiency and has certain practical application value.