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With the advent of high-altitude balloon flights in the twentieth century, humans began to physically explore space. Then came crewed rocket flights and, finally, crewed Earth orbit, which was first achieved by the Soviet Union’s astronaut Yuri Gagarin in 1961. Human spaceflight has been limited to low Earth orbit and the Moon due to the expensive cost of travelling into space. Uncrewed spacecraft, on the other hand, have visited every known planet in the Solar System.