  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.
