[AMR] Notes on tasks, improved layouts

electives/amr/parts/01_kinematics/05_rigid-body-dynamics.tex

@@ -9,3 +9,11 @@
 ${_B} \vec{v}_{CoM}$ vel. of CoM, ${_B}\omega$ rot. speed; both w.r.t. inert. frame
 
     {\scriptsize Legged robots don't need to maintain stability!}
+
+To determine dynamics:
+\bi{(1)} Define control inputs (e.g. wheel speeds),
+\bi{(2)} Assumptions / Simplifications about state \& inputs
+\bi{(3)} List forces, torques, etc needed,
+\bi{(4)} Express as func of states / inp
+\bi{(5)} Reduce to the CoM
+\bi{(6)} Plug into Newton-Euler eq combined with rigid body kinematics