Ashtanga yoga is based on the yoga taught by sage patanjali, the author of the Yoga Aphorisms. Ashtanga Yoga includes the eight limbs of Yoga, namely, yama, niyama, asana, pranayama, pratyahara, dharana, dhyana and Samadhi. Benefits of Ashtanga yoga: Increases muscle tone. Lubricates joints. Improves circulation.