I have been totally geeking out to the new Windsong videos on you tube. One particular lecture series is a must watch - his talks on kuzushi. Kuzushi is balance breaking or structure crumbling. It is the magic of aiki and ju. No matter your art form you have to understand this principle in order to make the stuff work effortlessly.
Here is the first one to get you started.
Yoga for Martial Arts
19 hours ago