Charles Darwin developed the theory of natural selection based on observations from his voyage on the HMS Beagle. He noticed that species on the Galapagos Islands were closely related but had adapted to their environments in slightly different ways. Darwin hypothesized that natural selection - the process by which organisms better adapted to their environment tend to survive and pass on their traits to offspring - could lead to the emergence of new species over many generations. The key principles of natural selection are that traits vary between individuals, traits are heritable, and some traits make individuals more likely to survive and reproduce.