| CPC B25J 13/088 (2013.01) [B25J 13/02 (2013.01); B25J 13/06 (2013.01); G06F 3/017 (2013.01)] | 13 Claims |
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1. An object control method, comprising
detecting a control activation/deactivation command based on whether one or two hands of a user take a predetermined pose;
setting a virtual reference geometry that is mapped to an object to be controlled by using a center point determined based on a three-dimensional position of the one or two hands of the user, in a state in which the control activation/deactivation command is detected, when the one or two hands of the user take the predetermined pose;
determining at least one of a translation variation amount and a rotation variation amount of the virtual reference geometry that moves along the one or two hands of the user, when the one or two hands of the user are moved while taking the predetermined pose;
determining at least one of a translation velocity and a rotation velocity of the center point when the one or two hands of the user are moved; and
controlling the object based on the at least one of the translation variation amount and the rotation variation amount of the virtual reference geometry and the at least one of the translation velocity and the rotation velocity of the center point,
wherein the virtual reference geometry is mapped to an end portion of the object to be controlled or projected perpendicularly to a plane perpendicular to an axis of the object to be controlled,
wherein controlling the object further comprises adaptively determining a corresponding ratio based on a distance between the two hands of the user and the at least one of the translation velocity and the rotation velocity, and controlling the object by applying the corresponding ratio to the at least one of the translation variation amount and the rotation variation amount of the virtual reference geometry, and
wherein controlling the object by applying the corresponding ratio comprises controlling at least one of the translation and rotation of the object to be more or less than the at least one of the translation variation amount and the rotation variation amount of the virtual reference geometry based on the corresponding ratio.
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