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The Future of Household Robots: Ensuring the Safety and Privacy of Users T a m a r a D e n n i n g C y n t h i a M a t u s z e k K a r l K o s c h e r J o s h u a R . S m i t h T a d a y o s h i K o h n o C o m p u t e r S c i e n c e

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T a m a r a D e n n i n g C y n t h i a M a t u s z e k K a r l K o s c h e r J o s h u a R . S m i t h T a d a y o s h i K o h n o C o m p u t e r S c i e n c e a n d E n g i n e e r i n g U n i v e r s i t y o f W a s h i n g t o n

The Future of Household Robots:

Ensuring the Safety and Privacy of Users

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Focus of This Talk: Robots, Security, and Privacy

 This talk is about two things:

 The future of robots in the home  Computer security and privacy

 To make sure we‟re all on the same page, first:

 Brief background on robots  Brief background on security and privacy

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What is a Robot?

 Cyber-physical system with:

 Mobility  Sensors  Actuators  Some reasoning capabilities (potentially)

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CC images courtesy of: http://www.flickr.com/photos/bbum/133956572/, http://www.flickr.com/photos/deadair/220147470/, http://www.flickr.com/photos/cmpalmer/3380364862/

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What is a Robot?

 Cyber-physical system with:

 Mobility  Sensors  Actuators  Some reasoning capabilities (potentially)

 Applications:

 Elder care  Physically-enabled smart home

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What is Security?

 Security:

 Systems behave as intended even in the presence of an

adversary

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What is Security?

 Security:

 Systems behave as intended even in the presence of an

adversary

 NOT Safety:

 Systems behave as intended even in the presence of accidental

failures

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Security for Robots?

 To understand the importance of security for robots,

we give context: A brief history of computers and computer security.

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Timeline: Computers

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1940 2000 1970

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Timeline: Computers

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1940 2000 1970 1946 ENIAC 1951 UNIVAC 1944 Colossus

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Timeline: Computers

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1940 2000 1970 1977 Apple II 1981 IBM Personal Computer 1982 Commodore 64 1984 Apple Macintosh 1974 Altair 8800

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Timeline: Computers

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1990 World Wide Web 1940 2000 1970

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Timeline: Computers

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1940 2000 1970 1994 Amazon 1995 Ebay 1998 Google 2004 Facebook 2005 YouTube 2006 Twitter

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Timeline: Computers

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1940 2000 1970

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Timeline: Computers

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1940 2000 1970

Now looking at computer security…

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Timeline: Computer Security Attacks

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1940 2000 1970 1971 Phone Phreaking

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Timeline: Computer Security Attacks

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1940 2000 1970 1982 The 414s break into 60 computer systems

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Timeline: Computer Security Attacks

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1940 2000 1970 1986 “The Brain” Virus

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Timeline: Computer Security Attacks

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1940 2000 1970 1988 Morris Worm

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Timeline: Computer Security Attacks

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1940 2000 1970 2000 DDoS Attack

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Timeline: Computer Security Attacks

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1940 2000 1970

  • Rootkits
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Timeline: Computer Security Attacks

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1940 2000 1970

  • Rootkits
  • Trojan Horses
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Timeline: Computer Security Attacks

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1940 2000 1970

  • Rootkits
  • Trojan Horses
  • Botnets
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Timeline: Computer Security Attacks

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1940 2000 1970

  • Rootkits
  • Trojan Horses
  • Botnets
  • Phishing
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Timeline: Computer Security Attacks

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1940 2000 1970

  • Rootkits
  • Trojan Horses
  • Botnets
  • Phishing
  • Keyloggers
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Timeline: Computer Security Attacks

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1940 2000 1970

  • Rootkits
  • Trojan Horses
  • Botnets
  • Phishing
  • Keyloggers
  • Cross-Site Scripting
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Timeline: Computer Security Attacks

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1940 2000 1970

  • Rootkits
  • Trojan Horses
  • Botnets
  • Phishing
  • Keyloggers
  • Cross-Site Scripting
  • etc.
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Timeline: Computer Security Attacks

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1940 2000 1970

Observations:

  • The attack rate increases
  • The attacks lag behind the technology
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Timeline: Robots

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1979 Robotics Institute founded at Carnegie Mellon University 1960 2000 2020

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Timeline: Robots

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1982 WABOT-2 accompanies people on a keyboard instrument 1960 2000 2020

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Timeline: Robots

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1986 Honda founds Humanoid Robot Division 1960 2000 2020

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Timeline: Robots

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1999 AIBO 1960 2000 2020

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Timeline: Robots

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2000 ASIMO 1960 2000 2020

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Timeline: Robots

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2001 Paro therapeutic seal 1960 2000 2020

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Timeline: Robots

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2002 Roomba 1960 2000 2020

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Timeline: Robots

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1960 2000 2020 2005 Actroid Android 2005 Wakamaru Companion Robot

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Timeline: Robots

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1960 2000 2020 2008 Okonomiyaki Robot

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Timeline: Robots

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1960 2000 2020 2010 ? HAL exoskeleton

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Timeline: Robots

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1960 2000 2020

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Timeline: Robot Security

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1960 2000 2020

Observation:

  • No attacks on robot security yet

Recall (computer security):

  • The attack rate increases
  • The attacks lag behind the technology

What is the future of robot security?

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Robot Security and Privacy in Context

 Our focus: Robot security and privacy

 Evil people doing bad things with robots  Most likely near term security and privacy

threat

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Robot Security and Privacy in Context

 Our focus: Robot security and privacy

 Evil people doing bad things with robots  Most likely near term security and privacy

threat

 Evil robots

 Popular topic of science fiction  Unlikely near term security and privacy

threat

 Other challenges to mixing humans

with robots

 Safety  Human-robot interaction

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Talk Outline

Part 1. Introduction Part 2. Assessing the Risks: Today and Tomorrow Part 3. Challenges and Next Steps

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Understanding Current and Future Risks: The Computer Security Approach

Identify representative examples of future tech

Assess the security and privacy vulnerabilities of those examples

Determine risks for today and extrapolate risks for tomorrow

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There are many household robots for sale…

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Roomba (vacuum) Scooba (mop) Robomow (lawn mower) Pleo (artificial lifeform toy) Lego Mindstorm NXT (toy and learning kit) FlyTech Bladestar (flying toy)

 How to pick which robots to study?

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Axes for Selecting Representatives Robots

 Strategy: Pick robots that span likely properties of

future robots

 Different Groups of Intended Users  Mobility  Actuators  Sensors  Communication Methods

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Our Selection: Spanning the Axes

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RoboSapien V2 Rovio Spykee

Robots purchased for experimentation during or before October 2008.

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RoboSapien V2

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  • Toy for children and hobbyists
  • Mobile, bipedal
  • Basic Dexterity
  • Controlled by IR remote
  • Some autonomous behavior
  • Pre-programmed speech
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Rovio

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  • For adults
  • Telepresence
  • Home surveillance
  • Check up up on relatives
  • Follows pre-programmed

IR beacons

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Spykee

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  • Toy for children
  • Assembled and

configured by children

  • Telepresence: Parent

can tuck in kids when

  • ut of town
  • “Spy” robot
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So, what vulnerabilities did we find?

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So, what vulnerabilities did we find?

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Focusing on Spykee and Rovio for now (we‟ll come back to RoboSapien V2 later)

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Remote Discovery

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(Artificial data -- not real locations of robots)

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Eavesdropping (shown in ad hoc mode)

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Neighbor or Hacker in a car

CC images courtesy of: http://www.flickr.com/photos/wwworks/3039389897/, http://www.flickr.com/photos/jamimages/83601411/

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Intercepting Credentials (Remote Mode)

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http://spykeeworld.com

09867028 934149871 358357619 035602844 09867028 934149871 358357619 035602844 254757324 523476784 561436546 456436345 User: alice1 Password: pass1

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Physical Takeover

 With credentials: Drive the robot anywhere  Access the AV stream at any time

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What the vulnerabilities mean to people…

 We discussed some vulnerabilities…  What do these vulnerabilities mean to people and

their environment?

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What the vulnerabilities mean to people…

 We discussed some vulnerabilities…  What do these vulnerabilities mean to people and

their environment?

 (We did not implement these attacks.)

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Many risks today are minor. We explore attack scenarios because they illustrate potential future risks with household robots.

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Rovio: Spy on Home

 Spy/eavesdrop in the home

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Many risks today are minor. We explore attack scenarios because they illustrate potential future risks with household robots.

CC image courtesy of: http://www.flickr.com/photos/3mieszczanka/3253181023/

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 Spy/eavesdrop in the home

Rovio: Spy on Home

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Many risks today are minor. We explore attack scenarios because they illustrate potential future risks with household robots.

CC image courtesy of: http://www.flickr.com/photos/arthurohm/1977354073/

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Rovio: Spy on Home

 Spy/eavesdrop in the home

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Many risks today are minor. We explore attack scenarios because they illustrate potential future risks with household robots.

CC image courtesy of: http://www.flickr.com/photos/paladin27/2277420652/

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Rovio: Spy on Home

 Spy/eavesdrop in the home

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Many risks today are minor. We explore attack scenarios because they illustrate potential future risks with household robots.

CC image courtesy of: http://www.flickr.com/photos/affixations/2542167108/

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Rovio: Move Around the Home

 Move around rooms of the house to facilitate spying

and eavesdropping

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Many risks today are minor. We explore attack scenarios because they illustrate potential future risks with household robots.

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Rovio: Property Damage

 Use weight to cause minor property damage

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Many risks today are minor. We explore attack scenarios because they illustrate potential future risks with household robots.

CC image courtesy of: http://www.flickr.com/photos/kacey3/2002598626/

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Rovio: Create Hazards

 E.g., Bowl of grapes near an infant

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Many risks today are minor. We explore attack scenarios because they illustrate potential future risks with household robots.

CC image courtesy of: http://www.flickr.com/photos/mindfire/3256681195/

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Rovio: Trip People

 Drive underneath elder‟s feet to trip them

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Many risks today are minor. We explore attack scenarios because they illustrate potential future risks with household robots.

CC image courtesy of: http://www.flickr.com/photos/marktristan/2733951264/

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Rovio: People with Dementia

 Make sounds to confuse people with dementia  Displace objects to confuse people with dementia

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Many risks today are minor. We explore attack scenarios because they illustrate potential future risks with household robots.

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Rovio: Superstitious Symbols

 Create patterns on the floor to play on superstitions

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Many risks today are minor. We explore attack scenarios because they illustrate potential future risks with household robots.

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Rovio: The Risks

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 Spy on residents  Move between areas of the house to facilitate spying  Property damage  Robot suicide  Knock over objects around infants  Trip elderly relatives  Create superstitious symbols

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Spykee: The Risks

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 Same kinds of risks as the Rovio, but…

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Spykee: The Risks

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 Same kinds of risks as the Rovio, but…  Spykee meant to be:

 Built by children (Erector set, 8+ years)  Configured by children  Connected to the Internet by children

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Spykee: The Risks

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 Same kinds of risks as the Rovio, but…  Spykee meant to be:

 Built by children (Erector set, 8+ years)  Configured by children  Connected to the Internet by children

 And most of all…played with by children

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Spykee: The Risks

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 Same kinds of risks as the Rovio, but…  Spykee meant to be:

 Built by children  Configured by children  Connected to the Internet by children

 And most of all…played with by children

CC images courtesy of: http://www.flickr.com/photos/ooh_food/3510270149/, http://www.flickr.com/photos/aznongbri/945555443/

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The Risks Tomorrow

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We have not analyzed the robots shown. They may or may not have vulnerabilities and may or may not be used for attacks. We are using them as examples of future kinds of robots.

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The Risks Tomorrow

 Robots for elders

 Exoskeleton for mobility  Lifting robot

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We have not analyzed the robots shown. They may or may not have vulnerabilities and may or may not be used for attacks. We are using them as examples of future kinds of robots.

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The Risks Tomorrow

 Robots for elders

 Exoskeleton for mobility  Lifting robot

 Robots for children

 As companions or as therapy

for unique emotional needs

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We have not analyzed the robots shown. They may or may not have vulnerabilities and may or may not be used for attacks. We are using them as examples of future kinds of robots.

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The Risks Tomorrow

 Robots for elders

 Exoskeleton for mobility  Lifting robot

 Robots for children

 As companions or as therapy

for unique emotional needs

 Robots that use tools

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We have not analyzed the robots shown. They may or may not have vulnerabilities and may or may not be used for attacks. We are using them as examples of future kinds of robots.

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Are the risks real?

 Our focus is on the future, when household robots

might be ubiquitous and sophisticated

 Potential types of attackers

 Terrorist  Competitor  Acquaintance  ID Thief  Prankster

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Computer Systems for Physical Harm

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November 2007

“It was just a bunch of very immature people delighting in their attempts to cause people misery”

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Again in March 2008

“This was clearly an act of vandalism with the intent to harm people”

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Talk Outline

Part 1. Introduction Part 2. Assessing the Risks: Today and Tomorrow Part 3. Challenges and Next Steps

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There are many ways to raise the bar…

 Basic Steps (for the user)

 Encrypted home network  Don‟t use ad hoc  Don‟t connect robots to the Internet  Don‟t allow the robots in “private” spaces

 Basic Steps (for the manufacturers)

 Security evaluations  Use encryption (properly!)  Secure firmware updates

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Standard Security Practices Are Not Sufficient

 Implementation vulnerabilities

 No such thing as perfect security  Vulnerabilities often found even in modern desktop computing

systems implementing best practices

 Secure networks can be cracked

 Usage vulnerabilities

 Users don‟t always secure networks  Users can misconfigure security settings even when employing

them

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Robots Have Unique Properties

 Physicality

 Mobility  Dexterity

 Interactive and in the middle

  • f the home

 These lead to unique

challenges…

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CC image courtesy of: http://www.flickr.com/photos/eiriknewth/282273087/

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No Longer a Desktop Computer: New Challenges

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 Robots that connect to the Internet are not

traditional vacuum cleaners or toasters

 Children as administrators  Robot interface is minimal

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No Longer a Desktop Computer: New Challenges

 Heterogeneous environments

 Multiple direct and indirect users  Pets  Children  Elderly  Guests

 Meaning…

 The people affected by robot security vulnerabilities may not

be the robots‟ administrators

 May be difficult to notice a hijacked robot

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No Longer a Desktop Computer: New Challenges

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 Even if you secure one robot in isolation…

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Multi-Robot

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 Even if you secure one robot in isolation…  What can two robots achieve?  Overcome each other‟s safeguards?  Combine physical capabilities?  Combine sensorial capabilities?  Manufacturers might not expect this!

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Our Setup

 Toy example

 Compromised Rovio (supplies camera)  IR/RF repeater positioned within line of sight of the

RoboSapien V2

 Remote for the RoboSapien V2

 What can we do?

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Multi-Robot: Our Setup

Rovio RoboSapien V2 IR/RF Repeater Combined AV Feed Grippers Communication Out of Line of Sight

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Multi-Robot Attack: Demo

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Security and Privacy for Users of Future Household Robots

 A near term threat: evil people using robots

 Needs attention today before technology matures

 Identified security and privacy vulnerabilities in

today‟s robots. Implications:

 For today: Mild to moderate risks  For future: More severe risks  Attacks: Spying/eavesdropping, damaging objects, tripping

  • r confusing residents, emotional abuse

 Challenges to securing future robots:

 Non-expert users may think of robots as appliances  Heterogeneous home environment  Multiple robots co-opted by an attacker to work together

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Related Work

 Challenges with ubiquitous computing in the home, e.g.:

 Edwards and Grinter. “At Home with Ubiquitous Computing: Seven

Challenges.” UbiComp „01.

 Human-robot interaction in the home, e.g.:

 Young et al. “Toward Acceptable Domestic Robots: Applying

Insights from Social Psychology.” Intl. Journal of Social Robotics „08.

 Privacy leaks in the home, e.g.:

 J. Schwartz. “Nanny-Cam May Leave a Home Exposed.” The New

York Times, April 2002.

 Usable Security, e.g.:

 Bryan D. Payne, W. Keith Edwards, "A Brief Introduction to Usable

Security," IEEE Internet Computing, vol. 12, no. 3,

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Questions?