Judo
Martial arts
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Judo is an unarmed modern Japanese martial art, combat sport, Olympic sport, and the most prominent form of jacket wrestling competed internationally. Wikipedia
Creator: Kanō Jigorō
Focus: Grappling, wrestling, ground fighting
Hardness: Full contact
Olympic sport: Accepted as an Olympic sport in 1960 (see below); Contested since 1964 (men) and 1992 (women);
Parenthood: Various koryū Jujutsu schools, principally Tenjin Shin'yō-ryū, and Kitō-ryū