Hey, hope I can help a bit.
Ok I'm not sure quite what you want so bear with me...
Oh, a quick note pseudo code - although there are "set" ways of doing this, at this level just try to write something that clarifies the problem to you, and helps you get it straight in your head. I find it best to write each line in pseudo/semi-pseudo code and then underneath fill in the real code, for example:
CODE
'display message in a message box
MsgBox.Show "Hello"
'read input from text box
input = txtText.Text
etc etc etc.
For your problem, just try to think of it at the most basic level. An example you always come across is how to boil a kettle, which if you break down is quite a big task (check kettle, unplug kettle, lift lid, put under tap, turn tap on, wait for level to rise, turn tap off etc) that if you were writing a program for would require a lot of code, but each step would be vitally important to break down and include.
So if you wanted robot (lets call him Jonny5

) to sit you would have to think of all sorts, move Jonny5 to chair, check chair is empty, turn Jonny5 180 facing away from chair, bend Jonny5 knees and keep lowering bum until contact with chair. The thing that you need to know however is to what detail do you need to go into at a pseudo code level - are you just defining functions (walk, check, lower) or are you wanting to refine these to sub routines (walk - left leg up, left leg foward, left leg down, right leg up, right leg foward, right leg down), or do you want to get right down to a low level (leg up - prime stepper motors, reduce pnumatic vacuum, stepper motors on, raise leg 50 units, stepper motors off, increase pnumatic vacuum). I would suggest somewhere in the middle. I program robotics on medical machines and I usually use pseudo code to give me an idea of how a function will work, without getting o into the nitty gritty of it all (unless the problem was really hard).
Hope some of that makes sense!