Aikido: The Heavenly Road

Principles of Aikido, from inside the book:
"Aikido techniques, originally based on ancient jujutsu, are exceedingly effective for actual combat. So dangerous are the techniques that no competition system has been adopted for Aikido, and traditionally it has been taught through the method of form repetition. Aikido techniques principally use empty-handed movements, without any weapons. Composed primarily of Nage (throwing), Kime (blocking), and Osae (pinning and controlling) techniques, Aikido is executed with breathing power and joint manipulation, as well as by calculating the proper Ma-ai (distance between one and the other) and by using the opponent's force and physical weak points to one's own advantage. . . ."