The Tachi Uchi no Kurai Koden waza were created by Hasegawa Chikaranosuke Eishin. There is also a reduced set of 7 forms formulated by Oe Masamichi Shikei.
All kata begin from tachiai for both uchidachi and shidachi.
"None are more hopelessly enslaved than those who falsely believe they are free."
Johann Wolfgang von Goethe -