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TOKYO — Japan hopes to have a two-legged robot walk on the moon by about 2020, with a joint mission involving astronauts and robots to follow, according to a plan laid out Friday by a government group.

Specifics of the plan, including what new technologies will be required and the size of the project’s budget, are to be decided within the next two years, according to Japan’s Strategic Headquarters for Space Development, a Cabinet-level working group.

Japan launched its first satellite in 1970 and has long been among the world leaders in space technology.

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