Organized open-boat shore whaling began in the 1570s; and continued into the early 20th century.[16] Techniques were developed in the 17th century in Taiji, Wakayama. Wada Chubei Yorimoto established a fishery by organizing the group hunting system in 1606. Whalers would spot whales from stations along the shore and launch boats to catch them with harpoons and lances. His grandson, Wada Kakuemon Yoriharu, later known as Taiji Kakuemon Yoriharu, invented the whaling net technique called Amitori-shiki