Takeda is often called the reviver of the Daito-ryu. He was born in Aizu, Japan and learnt kenjutsu, bojutsu, Sumo and Daito-ryu from his father. in 1873 he travelled to his father's friend's dojo where he became skilled in the use of various weapons including the sword, staff, half-bow, short-staff, spear and throwing darts. He travelled Japan improving his skills. Because of his impressive sword skills he became known as "the little tengu of Aizu".

After a period learning the art of oshikiiuchi Takeda became convinced to pursue jujutsu and he travelled Japan teaching Daito-ryu and Ono-ha Itto-ryu. One of the students he taught was Morihei Ueshiba.