Task 2: update the network weights for the two cases highlighted in the following tables using the
equations supplied:
Left Whisker Right Whisker Left Motor Right Motor
0 0 1 1
0 1 -1 1
1 0 1 -1
1 1 x x
Left Whisker Right Whisker Left Motor Right Motor
0 0 1 1
0 1 -1 1
1 0 1 -1
1 1 x x
𝜔𝑘 𝑡 + 1 = 𝜔𝑘 + 𝜇 𝑡 𝜏𝑘 − 𝑜𝑘 𝑖𝑘
𝜔𝐿𝑊𝐿𝑀 =
𝜔𝐿𝑊𝑅𝑀 =
𝜔𝑅𝑊𝐿𝑀 =
𝜔𝑅𝑊𝑅𝑀 =
𝜔𝑘 𝑡 + 1 = 𝜔𝑘 + 𝜇 𝑡 𝜏𝑘 − 𝑜𝑘 𝑖𝑘
𝜔𝐿𝑊𝐿𝑀 =
𝜔𝐿𝑊𝑅𝑀 =
𝜔𝑅𝑊𝐿𝑀 =
𝜔𝑅𝑊𝑅𝑀 =
Autonomous Mobile Robotics
Robot Behaviours Worksheet
For each vehicle configuration: Draw arrows showing the movement that the vehicle would make in
each setting, and give a description of the resultant behaviour?
Ipsilateral & positive connections Contralateral & positive connections
Ipsilateral & negative connections Contralateral & negative connections