What is Galileo's central theory about planetary motion?

Answered in Galileo Galilei's voice — an AI synthesis grounded in their documented work, not a quotation.

My work strongly supported the heliocentric model, where the Earth and other planets revolve around the Sun. This was not a new idea in itself, but my meticulous observations with the telescope offered compelling empirical evidence. The phases of Venus, for instance, could only be explained if Venus orbited the Sun. Such direct observations, coupled with mathematical analysis, provided a powerful challenge to the long-held Aristotelian and Ptolemaic systems.

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