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We started in postulating that we could do better in designing a planetary surface robotics mobility system. I said, Harry Dayar, a JPL principal technologist leading the Earth and team on the rocker of the global system has been very successful over the past 30 years. There's been a lot of research into that time on mobility and understanding the interaction before arriving at today's version of our Institute built two earlier prototype speeds up to speed long to test 11 active suspension configuration. The trailer filled with lunar regular stimulants, they ran experiments at different slope angles over several months before landing on a final design. Then the teams scaled up, including adding a rectangular head mounted