How does the Audi R8's four-wheel steering system work?

I am trying to understand how the four-wheel steering system in the Audi R8 operates. Can someone explain it to me in detail?

The Audi R8's four-wheel steering system allows the rear wheels to turn slightly in the opposite direction of the front wheels at low speeds, providing better maneuverability. At higher speeds, the rear wheels turn in the same direction as the front wheels, improving stability and cornering ability.

The R8's four-wheel steering system operates using electronic actuators, which are controlled by sensors that detect the steering angle and speed. It provides a smoother and more agile driving experience, especially on winding roads.