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Aikido does not have the external rigour of kata. That could be a weak point. If our training is careless or unfocused. But it is also a strong point if we train with our own internal rigour.
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Nice synopsis and research! thanks!
I agree. BJJ follows the same basic thought pattern as Aikido as it relates to kata. I believe we have kata in both, however as you state, it does not follow the strictness and precision that we see in other arts. I think this is a strength as long as you set the conditions in the dojo to reinforce "correctness" and "accountability".
Judo seems to do a good job of both, but I tend to like the "looseness" of both aikido and bjj to explore the edges of the dynamic relationship.