In this paper, we propose the development of an interactive platform between humans and a dual-arm robotic system based on the Robot Operating System (ROS) and a multimodal artificial intelligence model. Our proposed platform consists of two main components: a dual-arm robotic hardware system and software that includes image processing tasks and natural language processing using a 3D camera and embedded computing. First, we designed and developed a dual-arm robotic system with a positional accuracy of less than 2 cm, capable of operating independently, performing industrial and service tasks while simultaneously simulating and modeling the robot in the ROS environment. Second, artificial intelligence models for image processing are integrated to execute object picking and classification tasks with an accuracy of over 90%. Finally, we developed remote control software using voice commands through a natural language processing model. Experimental results demonstrate the accuracy of the multimodal artificial intelligence model and the flexibility of the dual-arm robotic system in interactive human environments.

翻译：本文提出了一种基于机器人操作系统（ROS）与多模态人工智能模型的人机交互平台开发方案，用于实现人类与双臂机器人系统的交互。该平台主要由两大组成部分构成：双臂机器人硬件系统，以及包含图像处理任务和自然语言处理的软件系统，后者通过3D摄像头与嵌入式计算实现。首先，我们设计并开发了一种位置精度低于2厘米的双臂机器人系统，该系统能够独立运行，执行工业与服务任务，同时在ROS环境中对机器人进行同步仿真与建模。其次，平台集成了用于图像处理的人工智能模型，以执行物体抓取与分类任务，准确率超过90%。最后，我们通过自然语言处理模型开发了基于语音指令的远程控制软件。实验结果表明，该多模态人工智能模型具有较高的准确性，且双臂机器人系统在交互式人机环境中展现出良好的灵活性。