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Hayabusa (aka MUSES-C) was a JAXA mission that visited asteroid 25143 Itokawa and returned a sample to Earth. It was launched in 2003, visited the asteroid in 2005, and returned a sample to Earth in 2010, despite some challenging problems. It carried a small rover, MINERVA (for Micro-Nano Experimental Robot Vehicle for the Asteroid), to put on the asteroid and to move by hopping, but unfortunately it was not successfully deployed. Other Hayabusa instruments:
A later, similar mission, Hayabusa2, was launched in 2014 and similarly returned a sample of asteroid Ryugu in 2020, and is continuing with flyby observations of additional asteroids.