The piano is a versatile and expressive instrument that has been a staple of Western music for centuries. It is descended from a variety of earlier keyboard instruments, including the harpsichord, clavichord, and spinet. The first pianos were made in Italy in the early 18th century, and they were quickly adopted by composers and performers all over Europe. The piano quickly became the most popular keyboard instrument, and it is still the most popular instrument in the world today. The earliest keyboard instruments were plucked zithers, such as the ancient Egyptian lyre and the Greek kithara. These instruments were played by plucking the strings with the fingers or a plectrum. In the Middle Ages, keyboard instruments with strings that were struck with hammers began to appear. These instruments were called clavichords. The clavichord had a delicate, mellow sound, but it was not very loud. In the 16th century, a new type of keyboard instrument called the harpsichord was developed. The harpsichord had a louder sound than the clavichord, and it was more versatile. The harpsichord became the most popular keyboard instrument in Europe during the Baroque period.