Lunar and planetary explora 廿ons have been increasingly planned across the world where mobility on the planetary / lunar surface is needed . In this paper we propose a new type of very small rover −typically with the weight of less 血 an 2kg. Several new ideas are proposed : simplified locornotion mechanism wi 血 elastic wheels , extremely small fish − eye camera system ,1ight − weight extension system using shape − memory alloy and tiny observation probe f6r investigating a hole connected to a

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... nar lava tube . ln this paper, we focus on small typed wheels , especially the running performance of elastic wheels . As first step to develop lunar mob 皿e rovers with high perf { ) mlance , we caπ ied ouUhe experiments ( to measure deflection and travesab 証 y loose soil and steppability of prqposed elastic wheels ) , From these results, we confirrned the effect ef the elastic wheels .