Using the language of dynamical systems theory, a general theoretical framework for the synthesis and analysis of autonomous agents is sketched. In this framework, an agent and its environment are modeled as two coupled dynamical systems whose mutual interaction is in general jointly responsible for the agent's behavior. In addition, the adaptive fit between an agent and its environment is characterized in terms of the satisfaction of a given constraint on the trajectories of the coupled agent-environment system. The utility of this framework is demonstrated by using it to first synthesize and then analyze a walking behavior for a legged agent.
