TROS : Protecting Humanoids ROS from Privileged Attackers
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TROS: Protecting Humanoids ROS from Privileged Attackers Giovanni Mazzeo1 · Mariacarla Staffa2 Accepted: 31 July 2019 © Springer Nature B.V. 2019
Abstract The spread adoption of humanoid social robots in different application fields is growing the interest of hackers who could violate the privacy of people, or—even worse—threaten humans’ life from physical and emotional/social point of views. Different vectors of attack exist, which are more easily exploitable if physical access to the target robot is available. This is very likely for humanoids that typically reside in untrusted environments where physically access to the robot is allowed and expected, thus permitting anyone to exploit the Linux kernel vulnerability (e.g., through the insertion of a USB pen drive) with the objective of tampering sensitive data. The Robot Operating System (ROS) is at the core of humanoids. Thus, it is crucial for their security. The most-recent solutions introduced in ROS2, SROS, and H-ROS are not sufficient for facing powerful adversaries. In this paper, we first identify the uncovered ROS weaknesses, which are particularly worrying in the case of humanoids. Then, we present our patched ROS solution called Trusted-ROS (TROS) leveraging hardware-assisted trusted computing to shield data managed by ROS, which otherwise would reside in robot’s memory unencrypted. The design of TROS is reported, together with a prototype implementation using a simulated version of the NAO humanoid secured through an Intel SGX hardware. Finally, we evaluated the proposed solution from both security and performance perspectives in order to demonstrate the practicability of our approach. Keywords Robotic operating system · Secure enclave · Humanoid robots · Trusted Execution Environment · Cyber-Physical Systems
1 Introduction In recent years, robots have become quite ubiquitous finding wide applicability in many different fields, spanning from entertainment to education and assistance. In particular, in the latter field, they gained a great credibility due to the convenience they brought to people’s lives [45]. Among all robot models, those which are receiving more success in the above mentioned fields are humanoid social robots thanks to their embodiment condition that induces human users to perceive them as intelligent agents. As such, they result more effective in affecting humans’ sense of trust and willingness to interact with them [38] and in enhancing humans’ engage-
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Mariacarla Staffa [email protected] Giovanni Mazzeo [email protected]
1
Department of Engineering, University of Naples Parthenope, Centro Direzionale, Isola C4, Naples, Italy
2
Department of Physics, University of Naples Federico II, Naples, Italy
ment [37] with respect to other technologies. Additionally, their social and human-like behavior based on the adaptation with respect to the environment [6,34] and to humans’ emotions [24] and movements during collaborative activities [5,7] bring people to interact with them as they would do with human bein
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