This book constitutes the refereed proceedings of the Second International Workshop on Algebraic Frames for the Perception-Action Cycle, AFPAC 2000, held in Kiel, Germany in September 2000.The 20 regular papers presented together with seven invited papers were carefully reviewed and selected for inclusion in the book. Among the topics addressed are action representation analysis, perception-action structure, colorimetry, motion modeling, spatio-temporal structures, geometric transformations, Clifford algebras, geometric algebra, illumination changes, contact modeling, wavelets, adaptive system behaviour, kinematics, hyperharmonic signal analysis, motion estimation, geodesic conturs, etc.