将上层协作意图设定和下层机器人的动作指令完全分开，增强了机器人运动的灵活性和决策系统的连贯性。
The upper-layer purpose design and the under-layer action command of the robots are completely divided to enhance the flexibility of the robot and the consistence of the decision-making system.
通过系统中控制接口模块接收主处理器发送的控制指令，屏蔽了不同主处理器之间的差异，增强了系统的可移植性。
The control interface module shields the various differences of the main processor, which improves the portability of the coprocessor system.
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