In a previous episode, we have discussed a different technique that accomplished something similar with a low and high level controller.

在之前的节目中，我们讨论过运用另一种技术通过一个低等和高等控制器来完成类似的事情。

Two, the high level controller can accomplish bigger overarching goals, such as following a path, or avoiding static and dynamic obstacles.

第二个是高级控制器，用来达成一些更宏观更智能的目标，比如跟随路径，或者避开静态或动态的障碍物。

One, the low level controller is about about maintaining balance and proper limb control by manipulating the joint positions and velocities appropriately.

第一个是低级控制器，通过调节关节的位置和速度来维持平衡和控制四肢。