Inertia
Albert Einstein's theory of special relativity, as proposed in his 1905 paper entitled "On the Electrodynamics of Moving Bodies" was built on the understanding of inertia and inertial reference frames developed by Galileo and Newton. While this revolutionary theory did significantly change the meaning of many Newtonian concepts such as mass, energy, and distance, Einstein's concept of inertia remained unchanged from Newton's original meaning (in fact, the entire theory was based on Newton's definition of inertia). However, this resulted in a limitation inherent in special relativity: the principle of relativity could only apply to reference frames that were "inertial" in nature (meaning when no acceleration was present). In an attempt to address this limitation, Einstein proceeded to develop his general theory of relativity ("The Foundation of the General Theory of Relativity," 1916), which ultimately provided a unified theory for both "inertial" and "noninertial" (accelerated) reference frames. However, in order to accomplish this, in general relativity, Einstein found it necessary to redefine several fundamental concepts (such as gravity) in terms of a new concept of "curvature" of space-time, instead of the more traditional system of forces understood by Newton.
Einstein's thought experiments
In a 1920 review on the "Fundamental Ideas and Methods of the Theory of Relativity" (unpublished), Einstein related how disturbing he found this asymmetry: 
Einstein needed to extend the relativity of motion that he perceived between magnet and conductor in the above thought experiment to a full theory. For years, however, he did not know how this might be done. The exact path that Einstein took to resolve this issue is unknown. We do know, however, that Einstein spent several years pursuing an emission theory of light, encountering difficulties that eventually led him to give up the attempt. 
That decision ultimately led to his development of special relativity as a theory founded on two postulates of which he could be sure. Expressed in contemporary physics vocabulary, his postulates were as follows: