The world of tai chi and robotics collide (next thing you know they'll be teaching classes). Check out Hubo (created by the Korean Institute of Advanced Science and Technology) who can do tai-chi and not just hand forms mind - swords as well...
It would seem to me that the complex whole body movement of tai chi, combined with the slow speed, mean that performing a tai chi form is an exceptionally good test case for humanoid robotics. e.g. http://www.idemployee.id.tue.nl/g.w.m.rauterberg/conferences/ICAT2004/SS2-1.pdf
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