| Abstract: | This paper examines the control of complex physical objects in simulation. We introduce a programming paradigm that allows a simulation to be treated as a multi-level constraint solver. The control programmer is given the ability to specify constraints on the controlled response of mechanisms and to conditionally change these constraints dependent on the state of system. The approach facilitates the development of model-based, event-driven control programs. The usefulness of the paradigm is demonstrated through the simulation of a hopping robot. |
