Complex sentence: Although like all his other incarnations he preferred brain over brawn, he is a capable swordsman ("The Androids of Tara") and fighter when needs dictate, following on from the martial expertise of his immediate predecessor.
Split into simpler sentences: Although like all his other incarnations, he preferred brain over brawn. He is a capable swordsman ("The Androids of Tara") and fighter when needs dictate, following on from the martial expertise of his immediate predecessor.