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，评估机器人在其实际部署的恶劣环境中的性能至关重要。能够在受控测试环境中重现各种地形和重力条件的可重复实验是必要的。本文介绍了一种最小化且节省空间的室内试验台的开发，该试验台采用带有配重的三维目标跟踪机构（主动xy和被动z），能够模拟陡坡、不平坦地形以及低重力条件。