- You may be looking for Venusian.
The Venusians were the ancient inhabitants of Venus.
The Venusians lifeforms had twelve eye-stalks in pairs. (PROSE: Venusian Lullaby, Bad Therapy) They had five arms and five legs. (PROSE: Bad Therapy, First Frontier) They were capable of eating the brains of other Venusians to gain their memories. (PROSE: Venusian Lullaby)
The Venusians used Venusian aikido. (PROSE: First Frontier) When the Venusians learned of the fate of their world, they fractured. There were various factions, known as anti-Acceptancers, who tried to find alternatives to their civilisation's fate. These included the Below the Sun Believers, the Rocketeers, the Water-breathers, the Volcano People, the Magnetologists and the Cave-makers. (PROSE: Venusian Lullaby)
The Venusians taught the Doctor Venusian aikido. (PROSE: Venusian Lullaby) After using a aikido technique during his exile on Earth, the Eighth Doctor had a vision of a many-armed glowing-eyed monster in a misty cavern. (PROSE: Endgame)
Near the First City, Héloïse and Zaleena met a large green creature with five eyestalks, five manipulating tentacles, and five legs with tough hooves. It told Zaleena that it had martial arts moves "like you wouldn't believe." House Xianthellipse had hired it to retrieve a cache of the Celestis' data on the enemy. (PROSE: T.memeticus: A Morphology)