"At some point on their five-year journey, Mars rovers Spirit and Opportunity have both gotten their feet stuck in the soil, and NASA is taking notes for the design of the next generation of rovers.
"In 2005, Opportunity spent five weeks spinning her wheels in a dune later dubbed “Purgatory.” Last week, Spirit sank into a sandpit scientists are calling “Troy,” and could stay there for weeks — or forever.
"But rovers of the future may have an easier time of it. NASA scientists are building an army of prototypes with new and ever weirder ways to rove.
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