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It seems it is generaly believed to have originated in Korea, however Japan is more famous for produceing the finest raku.
Hapkido is a Korean Martial Art and Karate is an Okinawan Martial Art. Both involve learning strikes, grappling and throws.
Glima, "To Fight".
It is not discovered, It's a martial art developed in the Philippines that was brought to the islands long before it was called Arnis. Arnis is a Spanish word (Harness of the hand).There are no known record where there is a single source of where Arnis,Eskrima, and Kali(Filipino Martial arts) originated. While there is similarities or common origins from Indonisiean and Malasian arts, cultural and environmental conditions evolved Filipino Martial Arts, From Mindanao(kali), Visayas (escrima) and Luzon(Arnis).