JPL ATHLETE rover
These guys are on the right track. There is exactly where money needs to flow.
blog and video of prototype
JPL website
Supplement this with a fine motor skills semiautonomous robot that it might pack along and there are not too many limitations about what could be accomplished, especially when you think about dozens rather than 1 or 2. Heck, land 5 of these babies with a power station and some interchangeable tool set packages start building/exploring.