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Two people hugging very aggressively, with a winner.

means The art of controlling an opponent through holds, takedowns, and submissions rather than striking.

from From the grapnel, a small ship's anchor with hooks designed to seize and clingby the 1500s humans were doing it to each other.

No punchingAll control, leverage, and stubborn body weight.
Ancient rootsGreek pankration and Indian malla-yuddha did it millennia ago.
BJJ proofSmall grapplers routinely defeat much larger strikers.
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