Virtual Reality Based Teleoperation of Reusable Rocket Refueling Robot System Utilizing WebXR and WebRTC Protocols

This paper introduces a pioneering virtual reality(VR) based teleoperation system for robotic fueling of reusable rockets. It addresses the post-landing phase challenges, where residual propellants like kerosene, methane, and hydrogen present explosion risks, making human proximity hazardous. The proposed system utilizes a digital twin interface powered by the WebXR API, enabling a realistic view of the robot and worksite with high fidelity. Peer-to-peer connections enabled by the Web Real-Time Communication(WebRTC) protocol facilitate real-time control and feedback. Given the frequent landing of reusable rockets on maritime platforms, affected by waves and wind, our system includes a VR control user interface(UI) that assists in precise control despite such instability. Experiments use components from the Korea Space Launch Vehicle II, specifically the fuel filler neck and fuel line inlet, demonstrating the system’s practical application and potential in enhancing the safety and efficiency of space exploration operations.