Can you grab the legs in judo?

Allowed:

• The normal grip: one hand on each side of the opponent's jacket, at the sleeve, collar, chest, shoulder or back, above the belt.
• Other grips, such as both hands on one side, a cross grip, a belt grip and pocket or pistol grips on the sleeve, when the athlete is using them to set up an attack. Time is allowed to prepare one.
• Under the belt, down to the top of the inner thigh, and in the last phase of a throw.
• Breaking a grip with one hand, or with two hands while keeping a grip of one's own.
• A bear hug, if the hands are not clasped, or if the athlete already had a stable grip.
• Gripping inside the sleeve.

Shido:

• Leg grabs: hooking the legs with a hand or arm, grabbing the trousers or touching the leg from the top of the inner thigh downwards. Legs may be gripped only when both athletes are plainly in ground work.
• A negative grip: using any grip to bend the opponent over, to defend or to block.
• Breaking a grip with two hands and ending up with no grip.
• Breaking a grip with the knee or leg, or by striking the opponent's arm.
• Covering the lapel, or blocking the opponent's hand, to stop them taking a grip.
• Holding the sleeve ends continually to defend, or interlocking fingers to stop the action.
• A bear hug with clasped hands made without a grip first.
• A hand, arm, foot or leg on the opponent's face.
• Gripping inside the trouser leg while standing.
• Ducking under the opponent's arm without attacking at once.
• Wrapping the belt or jacket end right round any part of the opponent.

The rules state the aim for grips in so many words: "to offer more chances to throw and more attractive judo". Grips that set up throws are allowed. Grips and leg grabs used to stop the opponent throwing are penalised.