Although there are doctrinal and technical differences between the two main styles and among the various organizations, the art in general emphasizes kicks thrown from a mobile stance, employing the leg's greater reach and power (compared to the arm). The greatest difference between various styles, or at least the most obvious, is generally accepted to be the differing styles and rules of sport and competition. Taekwondo training generally includes a system of blocks, kicks, punches, and open-handed strikes and may also include various take-downs or sweeps, throws, and joint locks. Some taekwondo instructors also incorporate the use of pressure points, known as jiapsul, as well as grabbing self-defense techniques borrowed from other martial arts, such as Hapkido and Judo.
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