What is the origin of judo?

Judo has its origin in the ancient Japanese art of jujutsu, (also jujitsu) a system of hand-to-hand combat. The bushi of feudal Japan (samurai) are usually credited with developing jujutsu. In their time, the art was known as Yoroi kumi-uchi, in which fighters fought, fully clad in Japanese armour. The chronicle of the Japanese nation, documents public, unarmed competitions (hikara-kurabe) dating back to 230 B C. Unlike the Western hand-to-hand fighter, the jujutsu fighter was expected to be pliable, winning by appearing to yield.