The Toyota Production System is founded on the complete elimination of waste, categorized into 7 types, 3 main being described here: Muda (non-value-adding work), Muri (overburden), and Mura (unevenness). While Muda is the most commonly discussed, TPS recognizes that Muri and Mura are often the root causes of Muda and must be addressed first to achieve a truly lean system.
