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Dynamics is a branch of applied mathematics (specifically classical mechanics) concerned with the study of forces and torques and their effect on motion, as opposed to kinematics, which studies the motion of objects without reference to its causes.

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Generally, you shouldn't worry about modeling the dynamics. You only need to do this in the case where you've got everything set up, but things aren't working as accurately as you'd like them to …
answered Apr 29 '16 by Ian
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The two views are not contradictory; they apply to two different situations, which you are treating as a single one. Your personal experience about having a low center of mass applies to situations w …
answered Feb 3 '16 by Ian
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If you're only using proportional force, then at some point it will be balanced by the force of gravity -- your error will converge on that balance, not zero. To compensate for the mass of the arm, y …
answered Oct 23 '14 by Ian
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This is just basic trigonometry; you'll covert your world-relative calculations of roll and pitch ($\phi$ and $\theta$) into vehicle-relative values, based on yaw ($\psi$). Just so we're on the same …
answered Jan 25 '14 by Ian
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The short answer is "yes". Accelerometers can be used to improve stability by measuring slight changes in movement. But most importantly, they can tell a walking robot which direction is down.
answered Feb 3 '16 by Ian