| Stiffness patterns | ||||
Sensor output | L,M,R | forward | backward | right | left |
(0,0,0) | L | H | L | L | |
(0,0,1) | H | H | H | L | |
(0,1,0) | H | H | L | L | |
(1,0,0) | H | H | L | H | |
(0,1,1) | H | H | H | L | |
(1,0,1) | H | H | L | L | |
(1,1,0) | H | H | L | H | |
(1,1,1) | H | H | L | L |