While performing in a movie at Toei Eigamura, Kinnikuman suddenly disappears. Somehow, he has been sent to Edo Period Japan. In Edo Japan, a villain called Shuten Douji is threatening to destroy the Earth if he is not given Princess Mari. Always willing to impress a pretty girl, Kinnikuman immediately vows to destroy Shuten Douji. He disguises himself as Princess Mari and goes to meet Shuten Douji, but Shuten Douji and his Big Four see through Kinnikuman's disguise and beat him up. Aware of Kinnikuman's situation, Terryman, Robin Mask, and the other Seigi Choujins travel to Edo Japan via Kinkotsu-obaba's powers.

Source: Kinnikuman Wiki

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Parent story: Kinnikuman