Brazilian Jiu-Jitsu (; , , ) (BJJ; ) is a martial art, combat sport, and a self defense system that focuses on grappling and especially ground fighting. Brazilian jiu-jitsu was formed from Kodokan Judo ground fighting (newaza) fundamentals that were taught by a number of individuals including Takeo Yano, Mitsuyo Maeda and Soshihiro Satake. Brazilian jiu-jitsu eventually came to be its own art through the experiments, practices, and adaptation of judo through Carlos and Hélio Gracie (who passed their knowledge on to their extended family) as well as other instructors who were students of Maeda, such as Luiz Franca.