Mission_CDR
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I do not think so, I am sceptical for 2 reasons.
1.) I found it on wikipedia
2.)The escape velocity is 0.52kM/hr (1.4444444 CM/S) http://en.wikipedia.org/wiki/Project_Constellation
http://en.wikipedia.org/wiki/Orion_Asteroid_Mission
http://en.wikipedia.org/wiki/99942_Apophis
Don't think we can pull it off with anything short of a high-thrust Ion engine or NERVA or LANTR or something that doesn't quite exist yet. Just too many variables in that.
There's no real need to walk on the surface. Just take a MMU pack and zip above the surface.