Judo is generally categorized as a modern Japanese martial art, which has since evolved into an Olympic and Paralympic event. The sport was created in 1882 by Jigoro Kano (嘉納治五郎) as a physical, mental, and moral pedagogy in Japan. With its origins coming from jujutsu, judo's most prominent feature is its competitive element, where the objective is to either throw or take down the opponent to the ground, immobilize or otherwise subdue the opponent with a pin, or force the opponent to submit with a joint lock or a choke. Strikes and thrusts by hands and feet as well as weapons defences are a part of judo, but only in pre-arranged forms (kata, 形) and are not allowed in judo competition or free practice (randori, 乱取り).