There are two main types of endurance: aerobic and anaerobic. Aerobic endurance involves moderate exercise over long periods using oxygen, like long-distance running. Anaerobic endurance involves high-intensity exercise that exceeds the body's oxygen supply, like sprinting. Intensity of exercise can be measured by heart rate and controlled based on maximum and minimum heart rates, which can be calculated using formulas related to age. Regular aerobic exercise provides significant health benefits like longer life, reduced risk of diseases, better mood and sleep, and improved work and study.