The first steerable, two-wheeled bicycle-like contraption invented in 1817 by a German baron named Karl von Drais was known by many names, including the “velocipede,” “hobby-horse,” “draisine” and “running machine." Beginning in the 1860s, several different French inventors including Pierre Lallement, Pierre Michaux, and Ernest Michaux developed prototypes with pedals attached to the front wheel. These were the first machines to be called “bicycles,” but they were also known as “boneshakers” for their rough ride.

Source: History