Richard Miller trained in tanglangquan with Gao Daosheng, Taipei, Taiwan (1977-1978) and in taijiquan and bajiquan with Adam Hsu in San Francisco, CA (1979-1991). In 1999 he began studying Yin style baguazhang with Xie Peiqi and He Jinbao of Beijing, China. Since then he has traveled to Beijing several times to receive instruction from He Jinbao and annually hosts him in Ann Arbor. Upon his introduction to baguazhang, Richard set aside his prior training to focus on this art which he considers to be singularly comprehensive and effective.
In 1992, Richard established Great Lakes Wushu. He also teaches at Eastern Michigan University and the University of Michigan. He has published articles in martial art magazines such as Black Belt, Inside Kung Fu, and Tai Chi Magazine.