diff --git a/README.md b/README.md
index 8b74a6b..c27ea4c 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,5 @@
 # Introduction
-Here are the ROS packages of Unitree robots, namely Laikago, Aliengo and A1. You can load robots and joint controllers in Gazebo, so you can do low-level control on the robot joints. Please watch out that the Gazebo simulation cannot do high-level control, namely walking. Besides of these simulation functions, you can also control your real robots in ROS by the `unitree_legged_real`. For real robots, you can do high-level and low-level control by our ROS packages.
+Here are the ROS packages of Unitree robots, namely Laikago, Aliengo and A1. You can load robots and joint controllers in Gazebo, so you can do low-level control(control the torque, position and angular velocity) on the robot joints. Please watch out that the Gazebo simulation cannot do high-level control, namely walking. Besides of these simulation functions, you can also control your real robots in ROS by the `unitree_legged_real`. For real robots, you can do high-level and low-level control by our ROS packages.
 
 ## Packages:
 Robot description: `a1_description`, `aliengo_description`, `laikago_description`