Adjustable height platform

A kinematic state machine comprising:

• a first rigid body with a first surface, where the first surface defines a first coordinate function;
• a second rigid body with a second surface, wherein the second surface defines a second coordinate function;
• a switch with a switch geometry;
• wherein
• the first and second rigid bodies have an allowed range of motion relative to one another and, together, form a composite surface, wherein at least a portion of the composite surface contacts the switch geometry and wherein the composite surface and the switch geometry define a composite coordinate function, wherein the composite coordinate function varies with the relative position of the first and second rigid bodies within the allowed range of motion;
• wherein the kinematic state machine may be in a plurality of states comprising a first state, a second state and a third state, wherein a plurality of events cause the composite coordinate function to transmit a plurality of forces at a plurality of force vectors to the switch, thereby moving the switch between a plurality of potential energy wells and causing the kinematic state machine to transition between the plurality of states;
• wherein
• when the kinematic state machine is in the first state in the plurality of states, movement within the allowed range of motion of the first and second rigid bodies relative to one another through a first state transition causes a first event in the plurality of events, wherein the first event transitions the kinematic state machine from the first state to the second state in the plurality of states;
• when the kinematic state machine is in the second state in the plurality of states, movement within the allowed range of motion of the first and second rigid bodies relative to one another through a second state transition causes a second event in the plurality of events, wherein the second event transitions the kinematic state machine from the second state to the third state in the plurality of states;
• and
• when the kinematic state machine is in the third state in the plurality of states, movement within the allowed range of motion of the first and second rigid bodies relative to one another through a third state transition causes a third event in the plurality of events, wherein the third event transitions the kinematic state machine from the third state to the first state in the plurality of states:
• wherein
• in the first event the composite coordinate function transmits a first force in the plurality of forces at a first force vector in the plurality of force vectors to the switch geometry and transitions the switch from a position intermediate between a first potential energy well in the plurality of potential energy wells and a potential energy barrier over the potential energy barrier into a second potential energy well in the plurality of potential energy wells, in the second event the composite coordinate function transmits a second force in the plurality of forces at a second force vector in the plurality of force vectors to the switch geometry and transitions the switch from the second potential energy well into the first potential energy well over the potential energy barrier;
• and in the third event the composite coordinate function transmits a third force in the plurality of forces at a third force vector in the plurality of force vectors to the switch geometry and transitions the switch out of the first potential energy well into the position intermediate between the first potential energy well and the potential energy barrier.