 For the next decade , Galileo stayed well away from the controversy . He revived his project of writing a book on the subject , encouraged by the election of Cardinal Maffeo Barberini as Pope Urban VIII in 1623 . Barberini was a friend and admirer of Galileo , and had opposed the condemnation of Galileo in 1616 . Galileo 's resulting book , Dialogue Concerning the Two Chief World Systems , was published in 1632 , with formal authorization from the Inquisition and papal permission . 
