Edo bakufu maintained the system that lasted since the Sengoku period (period of warring states), with hatamoto (direct retainers of the bakufu) and gokenin (shogunal retainers), as a military power under its direct control.
江戸幕府は、直轄の軍事力としては、旗本や御家人からなる戦国時代以来の体制を続けてきた。