Moonwalker Buzz Aldrin, 77, strode out onto the $40 million Skywalk, built by a private developer with the permission of the Hualapai tribe, whose ancestral lands abut the remote southwest rim of the Arizona canyon.
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"I felt wonderful, not exactly floating on air ... but a vision of hope for the future," said Aldrin, who was the second man to walk on the moon.
Waving to a crowd of about 1,000 tourists, dignitaries and tribal members, Aldrin walked around the transparent pathway to meet a group of Hualapai elders and children coming from the other direction.
The astronaut's few steps marked the official inauguration of the project, which backers hope will draw up to half-a-million paying visitors this year to the site some 120 miles east of Las Vegas.
The horseshoe-shaped steel pathway, which is paved with 90 tonnes of toughened glass, is cantilevered 70 feet out over the lip to give steel-nerved visitors a view of the Colorado River Valley below.
It is due to open on March 28 to tourists who will pay $25 each to tread their way around the glass arc, which is bolted to the lip of the plunging canyon.