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Humans and robots will need to collaborate in order to create a sustainablehuman lunar presence by the end of the 2020s. This includes cases in which ahuman will be required to teleoperate an autonomous rover that has encounteredan instrument assembly failure. To aid teleoperators in the troubleshootingprocess, we propose a virtual reality digital twin placed in a simulatedenvironment. Here, the operator can virtually interact with a digital versionof the rover and mechanical arm that uses the same controls and kinematicmodel. The user can also adopt the egocentric (a first person view throughusing stereoscopic passthrough) and exocentric (a third person view where theoperator can virtually walk around the environment and rover as if they were onsite) view. We also discuss our metrics for evaluating the differences betweenour digital and physical robot, as well as the experimental concept based onreal and applicable missions, and future work that would compare our platformto traditional troubleshooting methods.

Virtual Reality Digital Twin and Environment for Troubleshooting Lunar-based Infrastructure Assembly Failures