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Minamoto Yoritomo (born 1147, Japan—died February 9, 1199, Kamakura) was the founder of the bakufu, or shogunate, a system whereby feudal lords ruled Japan for 700 years. Defying the emperor, Yoritomo established shugo (constables) and jitō (district stewards) throughout the Japanese provinces, thus undermining the central government’s local administrative power, and in 1192 he acquired the title of supreme commander (shogun) over the shugo and jitō. Yoritomo was of noble and, as a descendant of...