I've trained in Judo myself, and I can safely say that if you spend 15 minutes in a judo match both guys are doing something wrong. Seriously.
Also, a few years in kenjutsu have taught me that the best way to grapple someone with a blade is to wait until he tries to attack, grab his hand, disarm him and either hold it to his neck or stab him in the back (for those that would argue this isn't honorable, the kata that simulates this assumes your opponent got first draw and lunged at you first, so fair is fair).