首先从行为立场出发，定义了软件姿态(software posture)的概念，将软件分为独占(sovereign)、暂态(transient)、精灵(daemonic)和辅助(auxiliary)四种姿态。
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然后，Lengagne软件把各种静态姿态转换成连续动作，并考虑机器人每一步作用力，以保持自己身体平衡。
Lengagne's software then converts these static poses into one smooth motion, taking into account the forces operating on the robot in each position to ensure it does not lose balance.
当机器人缓步走向椅子并坐下来时，系统软件此时计算出机器人为保持稳定、充分利用桌子而采取的若干姿态。
The software then calculates a number of poses that the robot could strike to make best use of the table for stability while it shuffles towards the chair and sits on it.
讲述了水下航向姿态数据采集、深度数据采集、存储器、VFD显示系统以及上位机软件的各部分功能，简单介绍了有关芯片。
Paper narrates the functions of the underwater attitude data collection, depth data collection, memory and VFD display system as well as the software, simply introduces relevant chip.
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