The Solar System also contains smaller objects.[e] The asteroid belt, which lies between the orbits of Mars and Jupiter, mostly contains objects composed, like the terrestrial planets, of rock and metal. Beyond Neptune's orbit lie the Kuiper belt and scattered disc, which are populations of trans-Neptunian objects composed mostly of ices, and beyond them a newly discovered population of sednoids. Within these populations are several dozen to possibly tens of thousands of objects large enough that they have been rounded by their own gravity. Such objects are categorized as dwarf planets. Identified dwarf planets include the asteroid Ceres and the trans-Neptunian objects Pluto and Eris.[e] In addition to these two regions, various other small-body populations, including comets, centaurs and interplanetary dust clouds, freely travel between regions. Six of the planets, at least four of the dwarf planets, and many of the smaller bodies are orbited by natural satellites,[f] usually termed "moons" after the Moon. Each of the outer planets is encircled by planetary rings of dust and other small objects.
Andreas Cellarius's illustration of the Copernican system, from the Harmonia Macrocosmica (1660)
For most of history, humanity did not recognize or understand the concept of the Solar System. Most people up to the Late Middle Ages–Renaissance believed Earth to be stationary at the centre of the universe and categorically different from the divine or ethereal objects that moved through the sky. Although the Greek philosopher Aristarchus of Samos had speculated on a heliocentric reordering of the cosmos, Nicolaus Copernicus was the first to develop a mathematically predictive heliocentric system.
In the 17th century, Galileo discovered that the Sun was marked with sunspots, and that Jupiter had four satellites in orbit around it.Christiaan Huygens followed on from Galileo's discoveries by discovering Saturn's moon Titan and the shape of the rings of Saturn.Edmond Halley realised in 1705 that repeated sightings of a comet were recording the same object, returning regularly once every 75–76 years. This was the first evidence that anything other than the planets orbited the Sun. Around this time (1704), the term "Solar System" first appeared in English. In 1838, Friedrich Bessel successfully measured a stellar parallax, an apparent shift in the position of a star created by Earth's motion around the Sun, providing the first direct, experimental proof of heliocentrism. Improvements in observational astronomy and the use of unmanned spacecraft have since enabled the detailed investigation of other bodies orbiting the Sun.