I have thought about this myself, since I'm a fan of science fiction and like to have plausible explanations for the different phenomena that authors put into their stories. They don't have to be fully scientific explanations, but I like having an explanation all the same
Being a sci-fi fan, then, I tend to look at it from a point of view that these creatures were created to fill some niche in society. In my universe, that niche is as a hardy colonist sent out to prepare worlds for human settlement. As such, the taur must be strong and resilient, able to resist the harsh conditions of the frontier of space. That suggests that a taur was created with a robust digestive system, perhaps extra organs to deal with poisons, large lungs, and a muscular build with a low center of mass (for carrying equiment--a colony might include cargo trucks, but no sense making it fully reliant on machines!).
The only part of taur anatomy which I have a hard time imagining is the joint between the two torsos. I suppose it would have to be very muscular. That doesn't seem to be a problem because the lower torso can hold many of the vital organs which would otherwise reside in the abdomen area of the upper torso.
I'm not sure how safe it is to put a link, but if you look up the ficticious Chakat species, the creator has put a lot of effort into thinking about their physiology. He also put alot of effort into thinking about their sexuality, hence my reluctance to link directly from this board. However, I still find the ideas intriguing, so that might be worth looking up.
If anyone else has done any speculation on taur physiology, I would also like to know what they came up with.