The missile was developed by the Nudelman OKB-16 design bureau. It was developed as a heavy ATGM at about the same time as the AT-1 Snapper for use on both ground launchers and helicopters. It addressed some of the problems of the AT-1, it was much faster, and had slightly longer range. These improvements were achieved by sending commands via radio link instead of a trailing guidance wire - which allowed the missile to travel faster. However it did make it vulnerable to jamming. The missile system was shown to Soviet premier Nikita Khrushchev in September 1964, and accepted for service shortly afterward.