By applying different speeds [math](v_0, v_1)[/math] to the two motors, the robot can move forward, backward, making turns or pivoting on place. However in practice it is easier to think in terms of forward speed and differential speed [math](v_f, v_d)[/math]. Here we have normalized the two speeds [math](v_0, v_1)[/math] to the interval [-1, 1]. You can either move the sliders or the move the red dot in the working space [math](v_0, v_1)[/math]. Move the red dot along the border of the square and observe the 8 different behaviors you can obtain. - moving straight (forward, backward) - pivoting around the left wheel (forward, backward) - pivoting around the right wheel (forward, backward) - pivoting around the center (left/right)