Morihei Ueshiba, the founder of Aikido, was a student of Sokaku Takeda, who was a master of Daito-ryu Aiki-jujutsu. Ueshiba studied with Takeda for several years, during which he learned the principles and techniques of Daito-ryu Aiki-jujutsu.
However, Ueshiba did not simply replicate Takeda's techniques but instead developed his own unique martial art that incorporated elements of Daito-ryu Aiki-jujutsu, as well as other martial arts, philosophy, and spiritual practices.
Ueshiba's Aikido emphasises the use of circular movements, blending with an attacker's energy, and redirecting their force to achieve a harmonious outcome.
It should be noted, Aikido in its very early days was taught as aiki-jujutsu then aiki-budo. Ueshiba received a teaching certificate (Menkyo Kaiden) from Takeda.