Development of remote robot control system for snake-like robot based on SSH protocol and iOS system

Abstract

Remote robot control system has been applied for various purposes, such as inspection and monitoring. The next generation of remote robot control system is asked to be utilized efficiently and conveniently via Internet protocol (IP) based network. However, a critical issue about security of the IP based system is network attacks, which is need to be prevented. In this paper, we propose an iOS (Apple Mobile Operating System) based application with SSH (Secure Shell) protocol to realize teleoperation with a snake-like robot via Wi-Fi network. The system is divided into three modules, motion module, middleware module and teleoperation module. Arduino Nano microcontroller board, BeagleBone Black board installed Ubuntu operating system and iPhone 6 were used as calculation units. Experiments were conducted to show the validity of the system.