Liu Jingtai
Gender: Male
Department: Institute of robotics and information automation, School of artificial intelligence, Nankai University
Title: Professor
Education: PhD
Major: Intelligent Robotics
Office Tel.: +86 22 23505706-801
E-mail: liujt@nankai.edu.cn
Research interests: AI & Robotics; Home Service Robots; Robotics and Automatic Control; Networked Robots; Robotics Education for Kids; Automatic Information System.
[Personal profile]
Jingtai Liu is the director of Institute of Robotics and Automatic Information System (IRAIS, director of Tianjin Key Laboratory of Intelligent Robotics.
Jingtai Liu received his bachelor's degree and his master's degree from Tianjin University in 1983 and 1986 respectively. And he received his doctor's degree from Nankai University in 1998. In 1986, he joined Nankai University and co-founded the Robotics Laboratory. He was once a member of Expert Group of the Intelligent Robots Subject of the 863 Program.
Jingtai Liu won the Advanced Individual Award for the 15th Anniversary of the 863 Program in 2001. He also won the First Prize and the Second Prize of Tianjin Science and Technology Innovation Awards, and won the Second Prize of Tianjin Science and Technology Progress Awards. He has directed and accomplished more than 20 projects, including the 863 Program, the National Key Projects, the National Natural Science Foundation of China, and the Tianjin Key Projects.
Jingtai Liu has spent 35 years in teaching and studying of robotics. He has been teaching Robotics for 26 years. The NSV Robot Language, which was mainly completed by Jingtai Liu in 1990, was the first advanced robot programming language for industrial robots in China. The General Industrial Robots Control System, which was mainly completed by Jingtai Liu in 1991, its related achievements were adopted by the robotic institute at Harbin Institute of Technology and the robotic institute at Beihang University. Jingtai Liu developed a series of general simulation platforms of robots, dynamics simulation modules of humanoid robots, experience platforms of intelligent robots, etc. The functions such as simulation model construction, virtual operation, offline simulation, etc., were also implemented. The concept of competitive teleoperation robots and the harmonious distribution theory of human-robot intelligence were proposed by Jingtai Liu. Over the past five years, Jingtai Liu’s interest includes home service robots. For the development of Tri-CO robots, he proposed a solution for home service robots system, which was based on the cloud technology architecture and ROS.
[Achievements]
Research Projects
1.Multimodal perception, comprehensive understanding and active-comfortable interaction of service robots—From passive avoidance to active service
National Natural Science Foundation
January, 2022 - December, 2025
2.Airport Runway Pavement Safety Inspection Robot
National Key R&D Program (“intelligent robot”)
December, 2019 - November, 2022
3.Multi-dimensional Situational Awareness and Behavior Optimization of Indoor Service Robots
Major Research Program of National Natural Science Foundation
January, 2019 - December, 2021
4.Research on General Technology of Home Service Robot Based on ROS
Tianjin Research Program of Application Foundation and Advanced Technology
April, 2015 - March, 2018
5.Research on Field Ecological Observation based on Networked Teli-Observation Robot
National Natural Science Foundation
January, 2014 - December, 2017
6.Research on Networking and Environmental Identification Technology of Home Service Robots
National High-tech R&D Program (863 Program)
January, 2012 - December, 2014
7.Key Technologies of Terrain Model Processing and True Color Printing for a 3D Printing Robot
National High-tech R&D Program (863 Program)
April, 2009 - April, 2011
Tianjin Research Program of Application Foundation and Advanced Technology,
April, 2009 - March, 2012
8.Positioning Navigation and Remote Sensing of Wheeled Sliding Steering Mobile Robot based on Machine Vision and Inertial Measurement
National Natural Science Foundation
January, 2009 - December, 2011
9.Research on Task Pattern of Competitive Robot Teleoperation
National Natural Science Foundation
January, 2006 - December, 2008
10.An Open Experimental Platform Design of Teleoperating Robots Base on Internet Environment
National High-tech R&D Program (863 Program)
September, 2002 – February, 2004
Awarded
2019, Tianjin Outstanding Teacher Award
2019, Second Prize of CAA Higher Education Teaching Achievement
2018，Nankai University Distinguished Graduate Mentor Award
2018，First Prize of Tianjin Higher Education Teaching Achievement
2017，First Prize of CAA Higher Education Teaching Achievement
2017，First Prize for Nankai University Distinguished Teaching Award,
2016，Tianjin Technology Invention Award to 3D True Color Inkjet Robot
2016，Special Award of Management Achievements of Teaching Laboratory for National Virtual Simulation Experimental Teaching Center Construction of Nankai University from 2014 to 2016
2016，Advanced individual in the implementation of the Outline of the National Science Quality Action Plan
2015，Nankai University Jebsen Prize（Distinguished Teaching Award）
2011，Distinguished Teaching Award of Baosteel Educational Fund
2008，Outstanding Class Mentor Award of Nankai University
2007，Special Research Grants of Nankai University
2005，Jingyie Distinguished Teaching Award of Nankai University
2005，Best Paper Award for Tianjin Higher Educational Investigation from 1999 to 2004.
2002，Tianjin Science and Technology Progress Award to the Financial Management System for NKTY Card.
2001，Distinguished Researcher Award, Intelligent Robot Program, High-tech Research and Development Program of China (China 863 Program), Ministry of Science and Technology.
2001，Distinguished Individual Award for 15th Anniversary, High-tech Research and Development Program of China (China 863 Program), Ministry of Science and Technology.
2001，Tianjin Science and Technology Progress Award to Microoperation Robot System
1997，Distinguished Teaching Award of Nankai University, First Prize
1997，Distinguished Young Teacher Award of Nankai University, First Prize
1994，Tianjin Science and Technology Progress Award to Robot Control System (NKRC-03)
1994，Tianjin 3th Young Scientist Award
1991，Distinguished Award of High-tech Research and Development Program of China (China 863 Program), Second Prize
Patents
1.A Root Canal Surgery Robot. China Patent, ZL201711452647.8, October 27, 2020.
2.A Positioning Method based on Dual-band Wi-Fi Signals. China Patent, ZL201710559429.8, July 14, 2020.
3.A Drive that Combines Active and Passive Energy Storage. China Patent, ZL201710298606.1, June 14, 2019.
4.Human-computer Interaction System for Service Robot. China Patent, ZL201410529521.6, Nov 3, 2017.
5.Linear Series Elastic Actuator based on Compression Spring. China Patent, ZL201510945316.2, May 22, 2017.
6.Robot Deformable Operating Arm Parameter Calibration Method. China Patent, ZL201410524095.7, Dec 7, 2016.
7.A Deformable Manipulator for Service Robot. China Patent, ZL201310173918.1, Jun 4, 2015.
8.Service Robot. China Patent, ZL201330170162.6, Aug 28, 2013.
9.An Ink Supply System for 3-Dimensional Printing Robot. China Patent, ZL200910228322.0, Nov. 19, 2009.
10.3-Dimensioanl Demonstration System. China Patent, ZL200910067961.3, Feb. 27, 2009.
11.Control Systems of Internet-Based Competitive Robot Teleoperation. China Patent, ZL03119499.0 (B25H13/00), Dec. 28, 2005.
Vacuum Robot Fixed Equipment with the Position Movable. China Patent, ZL03119500.8 (F16B47/00), July 20, 2005.
[Writing papers]
Journal Papers
1.Gaofeng Li, Dezhen Song, Lei Sun, Shan Xu, Hongpeng Wang, Jingtai Liu. Static Force-Based Modeling and Parameter Estimation for a Deformable Link Composed of Passive Spherical Joints With Preload Forces[J]. IEEE/CAA Journal of Automation Sinica, 2021.11, 8(11): 1817-1826.
2.Lei Zhou, Sen Zhang, Yingli Zhao, Zhengxi Hu, Jingtai Liu. Modeling of Personal/Group Dynamic Comfort Space Based on Asymmetric Gaussian Function [J]. Robot, 2021.05, 43(3): 257-268.
3.Sen Zhang, Lei Zhou, Meng Liu, Zhengxi Hu, Yingli Zhao, Jingtai Liu. A Motion Planning Scheme of Service Robots for Cramped and Crowded Situations[J]. Robot, 2021.05, 43(3): 269-278.
4.Lei Sun, Mingyang Li, Meng Wang, Wei Yin, Ning Sun, Jingtai Liu. Continuous finite-time output torque control approach for series elastic actuator[J]. Mechanical Systems and Signal Processing, Vol. 139, pp. 105853, 2020.
5.Wei Wang, Jianyu Chen, Yandong Ji, Wei Jin, Jingtai Liu and Juanjuan Zhang. Evaluation of Lower Leg Muscle Activities During Human Walking Assisted by an Ankle Exoskeleton[J]. IEEE Transactions on Industrial Informatics, vol. 16, no. 11, pp. 7168-7176, 2020.
6.Yue Sun, Jingtai Liu. RGB-D Sensor Based Human Comfortable Following Behavior for Service Robots in Indoor Environments[J]. Robot, 2019.11, 41(6): 823-833.
7.Sen Zhang, Jingtai Liu. Modeling of Human's Comfort Needs Based on Multi-dimensional Service Situations[J]. Robot, 2019.07, 41(4): 493-506.
8.Linsheng Zhao, Hongpeng Wang, Jingtai Liu. An Indoor Localization Method Based on Wi-Fi Fingerprint in the Human-Robot Shared Environment[J]. Robot, 2019.05, 41(3): 401-413.
9.Gaofeng Li, Dezhen Song, Shan Xu, Lei Sun, Jingtai Liu. Kinematic-free Orientation Control for a Deformable Manipulator based on the Geodesic in Rotation Group SO(3)[J]. IEEE Robotics and Automation Letters, 2018, 3(3): 2432-2438.
10.Lei Sun, Wei Yin, Meng Wang, Jingtai Liu. Position Control for Flexible Joint Robot Based on Online Gravity Compensation with Vibration Suppression[J]. Transactions on Industrial Electronics, 2018, 65(6): 4840-4848.
11.Wei Yin, Lei Sun, Meng Wang, Jingtai Liu. Nonlinear State Feedback Position Control for Flexible Joint Robot with Energy Shaping[J]. Robotics & Autonomous Systems, 2018, 99: 121-134.
12.Shan Xu, Gaofeng Li, Lei Sun, Jingtai Liu. A Fast Calibration Algorithm for Screw Parameters of a Deformable Manipulatorby Using the Circular Motion of End-effector[J]. Robot, 2018.09, 40(5): 607-618.
13.Wei Yin, Lei Sun, Meng Wang, Jingtai Liu. Motion Planning and Tracking Control of Series Elastic Actuator for Vibration Suppression[J]. Acta Automatica Sinica, 2018.08, 44(8): 1436-1445.
14.Jie Hao, Gaofeng Li, Lei Sun, Shan Xu, Sen Zhang, Jingtai Liu. Relative-pose-of-markers Based Calibration Method for a Deformable Manipulator[J]. Acta Automatica Sinica, 2018.08, 44(8): 1413-1424.
15.Gaofeng Li, Shan Xu, Lei Sun, Jingtai Liu. The Theory of Perpendicular Curve in Rotation Group Aiming at Incomplete Orientation Constraint Problems[J]. Robot, 2018.03, 40(2):195-205.
16.Meng Wang, Lei Sun, Wei Yin, Shuai Dong, Jingtai Liu. Series Elastic Actuator Torque Control Approach for Interaction Application[J]. Acta Automatica Sinica, 2017.08, 43(8): 1319-1328.
17.Shan Xu, Gaofeng Li, Jingtai Liu, Jie Hao. Inverse Kinematics Solution of Deformable Manipulator for Point Touching Task[J]. Robot, 2017.07, 39(4):405-414.
18.Wei Yin, Lei Sun, Meng Wang, Jingtai Liu. Amplitude-Saturated Nonlinear State Feedback Position Control for Flexible Joint Robots[J]. Robot, 2017.07, 39(4):458-465.
19.Xiang Lu, Kaiyan Yu, Yizhai Zhang, Jingang Yi, Jingtai Liu, Qijie Zhao. Whole-Body Pose Estimation in Physical Rider-Bicycle Interactions with a Monocular Camera and Wearable Gyroscopes[J]. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 2017.07, 139(7).
20.Meng Wang, Lei Sun, Wei Yin, Jingtai Liu. Continuous robust control for series elastic actuator with unknown payload parameters and external disturbances[J]. IEEE/CAA Journal of Automatica Sinica, 2017, 4(4): 620-627.
21.Meng Wang, Lei Sun, Wei Yin, Shuai Dong, Jingtai Liu. A finite time output feedback control approach for interaction-oriented series elastic actuators[J]. Robot. 2016.07, 38 (5): 513-521.
22.Haifeng Li, Zunhe Hu, Jingtai Liu. Enhanced geometric map: a 2D&3D hybrid city model of large scale urban environment for robot navigation[J]. Robot. 2016.07, 38 (3): 311-321.
23.Jingtai Liu, Sen Zhang, Yue Sun. Technology and System of Service Robots for Smart Home andIntelligent Life[J]. Journal of Integration Technology, 2016, 5(3):38-46.
24.Ningbo Yu, Chang Xu, Huanshuai Li, Kui Wang, Liancheng Wang, Jingtai Liu. Fusion of Haptic and Gesture Sensors for Rehabilitation of Bimanual Coordination and Dexterous Manipulation[J]. Sensors, 2016.03, 16(3).
25.Haifeng Li, Hongpeng Wang, Jingtai Liu. Error aware multiple vertical planes based visual localization for mobile robots in urban environments[J]. Science China Information Sciences, 2015, 58(3).
26.Haifeng Li, Hongpeng Wang, Jingtai Liu. Autonomous Map Query: Robust Visual Localization in Urban Environments Using Multilayer Feature Graph[J]. High Technology Letters, 2015, 21(1):31-38.
27.Yingshi Wang, Lei Sun, Wenbin Yan, Jingtai Liu. An analytic and optimal inverse kinematic solution for a 7-DOF space manipulator[J]. Robot,2014.9, 36(5):592-599.
28.Wang Yingshi, Sun Lei, Liu Jingtai. Online Minimum-acceleration Trajectory Planning with the Kinematic Constraints, Automatica[J], 2014, Vol.40 No.7, pp:1328-1338.
29.Xiang Lu, Jingtai Liu, Kaiyan Yu, Yan Li, Lei Sun. Pose Measurements Using Quaternion and Kalman Filter. High Technology Letters, 2014, 20(2): 131-139.
30.Xiang Lu, Jingtai Liu, Kaiyan Yu, Yan Li, Lei Sun. Uncalibrated Visual Servoing Design for the Competitive Networked Robots[J]. High Technology Letters, 2013.3,19(4):413-421.
31.Haifeng Li, Jingtai Liu, Xiang Lu. Visual Localization in Urban Area Using Orthogonal Building Boundaries and a GIS Database[J]. Robot, 2012.9,34(5):604-613.
32.Xinwei Chen, Jingtai Liu, Shi Tao, Haili Qian, Kuo Chen, Qing Wei. 3D Printing Robot: Model Optimization and Image Compensation[J]. Journal of Control Theory and Applications, 2012.8, 10(3):273-279.
Conference Papers
1.Wei Yin, Lei Sun, Wang Meng, and Jingtai Liu. Robust Position Control of Series Elastic Actuator with Sliding Mode Like and Disturbance Observer. 2018 Annual American Control Conference (ACC)
2.Meng Wang, Lei Sun, Wei Yin, Shuai Dong, and Jingtai Liu. Continuous Finite-Time Control Approach for Series Elastic Actuator[C]. IEEE Internation Conference on Decision and Control (CDC), 2016.12: 843-848.
3.Meng Wang, Lei Sun, Wei Yin, Shuai Dong, and Jingtai Liu. Nonlinear Disturbance Observer Based Torque Control for Series Elastic Actuator[C]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.10:286-291.
4.Wulin Zou, Wen Tan, Zhuo Yang, Meng Wang, Jingtai Liu, and Ningbo Yu. Impedance Control of a Cable-driven Series Elastic Actuator Using the 2-DOF Control Method[C]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016.10:3347-3352.
5.Ningbo Yu, Kui Wang, Yuan Li, Chang Xu, and Jingtai Liu. A Haptic Shared Control Algorithm for Flexible Human Assistance to Semi-Autonomous Robots[C]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.09: 5241-5246.
6.Xiang Lu, Kaiyan Yu, Yizhai Zhang, Jingang Yi, and Jingtai Liu. Whole-body Pose Estimation in Physical Rider-bicycle Interactions with a Monocular Camera and Wearable Gyroscopes. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.09: 4124-4129.
7.Haifeng Li, Dezhen Song, Yan Lu, and Jingtai Liu. A Two-View based Multilayer Feature Graph for Robot Navigation[C]. IEEE International Conference on Robotics and Automation (ICRA), 2012.05: 3580-3587.
Hongpeng Wang, Junjie Zhang, Jingang Yi, Dezhen Song, Jayasuriya S., Jingtai Liu. Modeling and motion stability analysis of skid-steered mobile robots[C]. IEEE International Conference on Robotics and Automation (ICRA), 2009.05: 4112-4117.
[Lecture course]
PhD student Advanced Robotics Technology
Postgraduate Robotics
Udergraduate Introduction to Automation Intelligence Science
Contact US
HR：+86 2285358228 guoyufei@nankai.edu.cn; International Office:+86 2223505863 mengjin@nankai.edu.cn
Location/Campus Map
38 Tongyan Road, Jinnan District, Tianjin, P.R.China 300350
