Yup! The original Prolog implementation is described in "Use of Prolog for developing a new programming language" [0], and took place in 1986. After performance eventually became an issue, they cross-compiled Erlang to a few other concurrent languages (Strand included), before opting to directly implement Erlang in C.

[0] http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.34.3...