Sternpost - mounted rudders started to appear on Chinese ship models starting in the 1st century AD .
In China , miniature models of ships that feature steering oars have been dated to the Warring States period ( c. 475 -- 221 BC ) .
Sternpost - mounted rudders started to appear on China ship models starting in the 1st century AD .
In China , miniature models of ships that feature steering oars have been dated to the Warring States period ( c. 475 -- 221 BC ) .