The horse became a warrior's ally between 4,000 and 3,000 B.C. in Eurasia, as evidenced by a Sumerian illustration of a war scene dated 2,500 B.C. In 360 B.C., although not the first, Xenophon, a Greek cavalry general and philosopher, wrote a treatise on cavalry and horsemanship. However, it was not until the invention of the saddle, stirrup, bit, halter, and shoulder collar for draft horses that their effectiveness on the battlefield gained momentum.
At the beginning of the 20th century, armored tanks successively took the place of cavalry on the battlefields, hence the name Armored Cavalry Weapon.