Venusian
From Tardis Wiki, the free Doctor Who reference
The Venusians are the native species of the planet Venus. Their biology includes at least 4 eyes (DW: The Daemons), 5 arms (NA: Bad Therapy) and large feet. (DW: The Time Monster)
Venusians practised a form of Aikido, which the The Doctor also practised and used, and would sing lullabies.