The first sea-going sailing ships in human history were developed by the Austronesian peoples from what is now Taiwan. Their invention of catamarans, outriggers, and crab claw sails enabled the Austronesian Expansion at around 3000 to 1500 BCE. From Taiwan, they rapidly colonized the islands of Maritime Southeast Asia, then sailed further onwards to Micronesia, Island Melanesia, Polynesia, and Madagascar. Austronesian rigs were distinctive in that they had spars supporting both the upper and lower edges of the sails (and sometimes in between), in contrast to western rigs which only had a spar on the upper edge.