In developing mobile robots for exploration on the planetary surface, it is crucial to evaluate the robot's performance, demonstrating the harsh environment in which the robot will actually be deployed. Repeatable experiments in a controlled testing environment that can reproduce various terrain and gravitational conditions are essential. This paper presents the development of a minimal and space-saving indoor testbed, which can simulate steep slopes, uneven terrain, and lower gravity, employing a three-dimensional target tracking mechanism (active xy and passive z) with a counterweight.

翻译：在开发用于行星表面探测的移动机器人时，评估其在实际部署环境中面对恶劣条件的性能至关重要。能够在可重复的受控测试环境中复现不同地形和重力条件，这一需求不可或缺。本文介绍了一种紧凑且节省空间的室内测试平台的研发，该平台采用带有配重的三维目标跟踪机制（主动xy轴与被动z轴），能够模拟陡坡、不平坦地形以及低重力环境。