Aikido was created from an unarmed art, as Doc said.
However, there is a link to kendo (actually, more kenjutsu) that goes beyond philosophy. The founder of aikido realized that many, if not all, of the movements made with a sword translated into excellent movements made when directing an opponent's body around. Essentially, in the same way that you swing/pull a sword in order to cut an enemy, you may also swing/pull an enemy to bring him to the ground. This is why many aikido schools also practice with swords.
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