Rendaku (連濁) is a phonological phenomenon in Japanese by which the first consonant of the second component of a compound word often becomes voiced (k→g, s→z, t→d and h→b).

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What is the difference between tori vs. dori?

In Aikido, different dojos seem to latch on to using either dori or tori when describing grabbing attacks. For instance one dojo might say: Katate Dori Another would say: Katate Tori Each dojo ...
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Voiced or unvoiced syllables in compound words

Examples first. First example: 空 {そら}. Almost all compound nouns for which 空 is the second component pronounce it as ぞら (zo ra): 青空 {あおぞら}, 夜空 {よぞら}, 星空 {ほしぞら}. There is at least one exception ...