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Morihei Ueshiba (left) developed aikido around the late 1920's and throughout the 1930's. The techniques used in his new martial art were heavily influenced by the martial disciplines he was studying at the time. These disciplines included various schools of jujutsu (Kito, Yagyu and Daito), fencing, spear fighting, and Zen philosophy. Ueshiba also incorporated the use of the staff (jo) and spear (yari), as well as many techniques from the art of swordsmanship (kenjutsu). During the time of aikido's creation, Morihei was also deeply involved with the religious school of Omoto-kyo. The principal feature of this religion was it's emphasis on pursing utopia during life. Omoto-kyo had a significant influence on Ueshiba's martial philosophy in that it helped to shape aikido's commitment to express love and compassion towards those that seek to cause harm (Sources: Wikipedia and Sukagawa Aikido Club).