On the Security of Cyber-Physical Robotic Systems Using Dynamic Modeling and Simulation

摘要

This paper addresses the lack of cyber-physical security in robotics systems by implementing a new layer of security that monitors the torque values that the robot is exerting, while in motion, for possible anomalies. A simulated compliant robot (the Franka Panda) that used the Unity physics engine was adapted to create and test this anomaly-detection security layer. Anomalies observed in the torque signals are reported back to the operators and a resilience measure is enacted to create a layer of cyber-physical security for robotics systems. We provide a simulation of a possible attack and demonstrate the response of the system.