During the Renaissance, Nicolaus Copernicus proposed a heliocentric model of the solar system. His work was defended by Galileo Galilei and expanded upon by Johannes Kepler. Kepler was the first to devise a system that correctly described the details of the motion of the planets around the Sun. However, Kepler did not succeed in formulating a theory behind the laws he wrote down. It was Isaac Newton, with his invention of celestial dynamics and his law of gravitation, who finally explained the motions of the planets. Newton also developed the reflecting telescope.