The Tokugawa Shogunate ruled Japan from 1603 to 1867 and focused on establishing social and political order as well as controlling foreign relations. The Tokugawa enforced a strict social hierarchy with the emperor and warriors at the top and outcasts at the bottom. Daimyo ruled semi-autonomous domains but the Shogun maintained control through a system of required residency in Edo and hostage taking of daimyo family members. Economically, cities grew and a merchant class developed, but peasants faced increased taxes and some revolted. Culturally, the theater of Kabuki and haiku poetry flourished during this period of stability and isolation from foreign influence imposed by the Tokugawa.