It derives mainly from Takeda’s Daito Ryu Aikijujutsu but began to diverge from it in the late 1920s, probably due to Ueshiba’s commitment to resolving conflict without harming the opponent. As Ueshiba slowly separated from Takeda’s approach, he also began to implement more changes into the art of Aikijujutsu, finally leading, mainly due to the influence of his son Kisshomaru to develop the art of Aikido. His Aikijujutsu changed: training in striking or jujutsu techniques became less important, and the formal curriculum became more straightforward with a greater emphasis on fundamental principles and what is now referred to as kokyu nage, or “breath throws” which are soft and blending, utilizing the opponent’s movement in order to throw them. Nevertheless, many of these techniques are rooted in the aiki-no-jutsu portions of the Daito Ryu curriculum rather than the more direct curriculum of joint-locking techniques.

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Nowadays, Ueshiba’s senior students and their successors have different approaches to Aikido, depending partly on when and how long they studied with him and what other martial arts they have been exposed to. Today Aikido is found worldwide in many styles, with broad ranges of interpretation and emphasis. However, they all share techniques transmitted from Takeda through Ueshiba, and most styles have a deep concern for the well-being of the attacker.