为了确保事件和动作的持续性，Business Events可以执行持久化操作或在事件处理过程中的几个不同时间点从磁盘读取数据。
To ensure the durability of events and actions, Business events can persist or read data from disk at several points during event processing.
介绍了一种双足步行机器人的起立规划方法，该方法能实现稳定而又自然流畅的起立运动，同时能保证在站立状态下执行相同的动作而不翻倒。
In this paper, we put forward a method for the biped walking robot getting up planning, which can achieve the movement of getting up stably and glidingly.
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