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ᄎආጳ

Liu, Jing-Sin ޼Ӻᔊʧ Research Description
Research Description
޼Ӻᔊʧ
I. Collision Detection II. Motion Editing of Articulated Figure Animation
* ຠᅜਈ಻
ຠᅜਈ಻މ஢εيଣᅼᏝd 3DൈᏝᐑྤᏐ͜ Collision detection is a process that lies at the This project works on automatic motion edit-
heart of many physical simulations, and 3D virtual ing of character animation. The performance of
ٙࠠࠅࣨːӉ᜷d ɰ݊ࠇၑࠋஃଧ᎕הίf νО
environments, and is regarded as a bottleneck of a motion synthesizer is characterized by the
ᄣආຠᅜਈ಻ࣖଟd ʊϞ஢ε˙ج౤̈f ್Ͼה computational loads for these application domains. fulfillment of five practical requirements: full au-
Collision detection is the key to the efficiency of tomation, modest dependence on motion capture,
ঐஈଣٙي᜗Җόdஷ੬ࠢ׵࡝׌̉εࠦ᜗dϞˇ
path planning in robotics. There have been many applicability to general motions, naturalness, and
௅΅˙ج̙˸પ࢝ՑਞᅰϜࠦνNURBSϜࠦf ຠ approaches proposed to trade the efficiency of colli- accurate positioning. The project aims at develop-
ᅜਈ಻މዚኜɛ༩ࢰ஝ྌࣖଟʘᗫᒟהίdՉࣖଟ sion detection for accuracy, mainly for rigid convex ing a learnable synthesizer that satisfies them all.
objects, and parametric surfaces such as NURBS In a motion editing setting, by adding a stylistic Research Fellows
̙ᔟ͟ي᜗ҖًʘڐЧϾ̋˸౤ʺd͉ࠇྌʘͦٙ surfaces. Our collision detection method is based similarity constraint in the spacetime framework
ί׵Դ͜௰ɽ᜗ጐʫʲዕଢၾ௰ʃ᜗ጐ̮ટዕଢd on inner-outer ellipsoids of a convex polyhedra, to the reference motion, along with limb posi-
which is easy to implement and works very well for tion constraints, a desired motion can be generated
ʫ̮ѰᏘڐЧ̉εࠦ᜗d࿁εࠦ᜗ʘගٙࠠᛌආБ rigid objects undergoing rigid motion. This project by solving a spacetime-constrained optimization
ਈ಻ʿП಻ي᜗ග௰ڐ൷ᕎi͟׵ዕଢʘࠠᛌᏨݟ is aimed at extending our work on the collision problem. To make the stylistic comparison [spacet-
detection method based on inner-outer ellipsoidal ime optimization, resp.] via support vector machines
Ⴣ༰̉εࠦ᜗Ԙ஺d˸ʘڐЧεࠦ᜗̙׼ᜑ̋஺ຠ approximation to approximate and exact collision more tractable, we will base its observations [vari-
ᅜਈ಻ʘࠇၑdவࡈ˙ج࿁׵ਈ಻ආБ࡝׌༶ਗٙ detection of deformable polyhedral objects. ables, resp.] on a compact representation of motion
Research Fellows
ਿ ͉ ༟ ࣘ
ਿ ͉ ༟ ࣘ ࡝׌̉εࠦ᜗ຠᅜd ׸׵ྼତ˲ྼ͜׌ܘ৷fҢࡁ through a kernel principal component analysis and
SVM classifier.
௰ڐһආɓӉਗ਼Ϥج̋˸ࡌ͍˲ҷආ዆᜗ࣖঐdԨ
Selected Publications
ᔖcc၈j ਓ޼Ӻࡰ પ࢝Ց̙ᜊҖ̉εࠦ᜗ຠᅜਈ಻ਪᕚɪf Selected Publications
Associate Research Fellow (1994--)
** ɛيਗ೥
A. REFERREED PAPER 7. Ju M. Y., Liu J. S., Shiang S. P., Chien Y. R., Hwang K. S., and Lee
௰৷ኪዝj Ph.D. EE, National Taiwan University ͉ࠇྌʘ޼Ӻ˴ᕚމɛيਗ೥ʘІਗପ͛fӔ 1. Ju M. Y., Liu J. S., Shiang S. P., Chien Y. R., Hwang K. S., and Lee W. W. C., 2001, “A novel collision detection method based on enclosed
ellipsoid,” 2001 IEEE International Conference on Robotics and Auto-
(1990) ֛ਗ೥Υϓӻ୕ࣖঐʘʞɽࠅ९ C.,2001,“Fast and accurate collision detection based on enclosed el- mation, Seoul, Korea,May 2001.
lipsoid,”Robotica, vol.19,pp.381-394, 2001.
2. Lin WS, Tsai CH and Liu JS, 2001, “Robust neuro-fuzzy control of 8. Ju M. Y., Liu J. S., W.C. Lee, Hwang K. S., 2001, “On effi ciency of
ཥcc༑j+886-2-2788-3799 ext. 1813 1. ΌІਗfӻ୕ʔᏐࠅӋԴ͜٫Ъཀ׵ᐿልʘ፩ multivariable systems by tuning consequent membership functions,” distance estimate and collision detection based on enclosed ellipsoids,”
th
4 Asian Conference on Robotics and its Applications, Singapore,
Fuzzy Sets and Systems, vol.124, pp.181-195, 2001.
ɝdˈՉ݊ίਗЪᗳ່֛ۨٙ˙ࠦi 3. Ju M. Y., Liu J. S., Hwang K. S., 2002, “Real-time velocity altera- June, 2001.
ෂccॆj+886-2-2782-4814 tion strategy for collision-free trajectory planning of two articulated 9. Lai HC, Liu JS, Lee DT, Wang LS, 2002, “Finding batteries locations
2. ࿁ਗЪᓘ՟ʘቇܓԱ፠fӻ୕߰ҁΌʔცࠅᇍԷ robots,” Journal of Intelligent and Robotic Systems,vol.33,pp.167-186, of electrical motorcycles for better perception of riding comfort,” 2002
American Control Conference, Anchorange, May 2002.
ཥɿڦᇌjliu@iis.sinica.edu.tw ਗЪۆจբഹԴ͜٫̀඲˓ਗܸ֛הϞ୚ືd߰ 4. 2002. 10. Liang TC and Liu JS, 2002, “Motion controller realizing cyclic ball
Chen JL, Liu JS, Lee WC, 2002, “A recursive algorithm for on-line
clustering obstacles cluttered in dynamic environments,” Journal of passing strategy among multiple mobile robots in robot soccer games,”
ၣccࠫjhttp://www.iis.sinica.edu.tw/pages/liu ცࠅεࡈᇍԷਗЪۆจբഹԴ͜٫̀඲ԫ΋ੂБ Intelligent and Robotic Systems,vol.33,pp.209-230,2002. 2002 IEEE International Conference on Robotics and Automation,
Washington DC, May 2002.
஢ε༸€ᐿልٙਗЪᓘ՟˓ᚃi 5. Chen JL, Liu JS, Lee WC, Liang TC, 2002, “On-line multi-criteria 11. Liang TC and Liu JS, 2002, “Coordinated trajectory planning and for-
based collision-free posture generation of redundant manipulators in
constrained workspace,” Robotica, vol.20, pp.625-636, 2002. mation control of soccer robots to pass a ball cyclically,” Distributed
3. ࿁ɓছਗЪʘቇ͜׌fӻ୕ʔᏐԱ፠ݔԬසቇ͜ 6. Lai HC, Liu JS, Lee DT Wang LS, 2003, “Design parameters study on Autonomous Robotic Systems 2002, Fukuoka, June 2002, Springer-
• 1994- Associate Research Fellow ׵ˇᅰਗЪᗳۨٙ৿ணi the stability and perception of riding comfort of the electrical motor- 12. Verlag.
Chen J.L. and Liu JS, 2002, “ Avoidance of obstacles and joint limits
cycles under rider leaning,” Mechatronics, vol.13, pp.49-76, 2003.
th
• 1990-1994 Assistant Research Fellow 4. ਗЪІ್f༻ॆٙਗЪ̙Դਗ೥ɛيًЧॆɛi 7. Liu JS, Liang TC, Lin YA, 2004, “Realization of ball passing strategy for end effector tracking in redundant manipulators,”7 International
Conference on Control, Automation, Robotics and Vision, Singapore,
in robot soccer game: a case study of integrated planning and control,”
Robotica, vol. 22,329-338, 2004. Dec. 2002.
˸ʿ 13. Liu JS, Liang TC and Lin IA, 2003, “A simulator for strategy develop-
• 1986-1990 Ph.D, Department of Electrical 8. Liang TC, Liu JS, Hung G.-T. and Chang Y.-Z., 2005, “Practical and th
flexible path planning for car-like mobile robot using maximal-curva- ing and realization in robot soccer game,”8 International Symposium

Engineering, National Taiwan University 5. ЗໄʘၚᆽછՓfટᙃࠢՓૢ΁ᆽڭɛيԱኽԴ ture cubic spirals,” Robotics and Autonomous Systems, vol.52, no.4, on Artifi cial Life and Robotics, Beppu, Oita, Japan, Jan., 2003.
pp.312-335, 2005. 14. Liu J. S., Chien Y.R., Su W.-K., 2003, “Collision detection based on
͜٫ٙจܠၾൈᏝᐑྤʝਗf inner-outer ellipsoidal approximation: some improvements,” 2003
• 1984-1986 MS in Automatic Control, Department B. CONFERENCE PAPER IEEE International Symposium on Computational Intelligence on Ro-
of Mechanical Engineering, National Taiwan ͦۃd͉ࠇྌу˸೯࢝ɓঐတԑɪࠑהϞࠅӋ 1. Lai HC, Liu JS, Lee DT, Wang LS, 2000, “A study of the effect of 15. botics and Automation, Kobe, Japan, July, 2003.
Liang TC and Liu JS, 2004, “Collision-free Path Planning for Mobile
rider lean on the stability and riding comfort of the electric motor- Robot Using Cubic Spiral,” 2004 IEEE International Conference on
University ʘΥϓӻ୕މͦᅺfҢࡁਗ਼ਪᕚ֛މਗЪᇜ፨dл cycles,” International Multiconference on Systemics, Cybernetics and Robotics and Biomimetics, Shenyang, China, August 2004.
Informatics’2000 (SCI2000), Orlando, Florida, USA, July, 2000 16. Liang TC and Liu JS, 2004, “A Bounded-curvature Shortest Path Gen-
• BS , Department of Mechanical Engineering, ͜੄εᇍԷਗЪdЪމਗЪᗳۨʘ່֛fᔟഹࠅӋ 2. Shiang SP, Liu JS, Chien YR, 2000, “Estimate of minimum distance eration Method for Car-like Mobile Robot Using Cubic Spiral,”2004
between convex polyhedra based on enclosed ellipsoids,” IEEE/
National Cheng-Kung University ᏝΥϓʘਗЪတԑɓ޴࿁׵ਞϽਗЪʘࠬࣸ޴Чࠢ RSJ International Conference on Intelligent Robots and Systems, IEEE International Conference on Intelligent Robots and Systems,
Sendai, Japan, Sep.-Oct., 2004.
Փૢ΁d˸ʿ˓ԑЗໄࠢՓૢ΁dਗ਼הӋʘਗ೥І Takamatsu,Japan,October, 2000. 17. TC Lee and Liu JS, 2005, “rho-exponential stabilization of caplygin
3. Ju M. Y., Liu J. S., Shiang S. P., Chien Y. R., Hwang K. S., and Lee systems,”2005IEEE International Conference on Robotics and Auto-
ɓࣛ٤աࠢʘ௰Գʷਪᕚʕ༆̈fމԴࠬࣸˢ༰ၾ W. C., 2000, “ Fast and accurate collision detection based on enclosed mation, Barcelona, Spain, April 2005.
th
ellipsoid,”6 International Conference on Control, Automation, Robot- 18. Liu JS, Kao JI, Jian Y, Chang YZ, 2005, “Collision detection of
ࣛ٤௰Գʷʘਪᕚһ׸׵༆ӔdҢࡁਗ਼˸ɓၚᔊʘ ics and Vision, Singapore, Dec. 2000 (invited). deformable polyhedral objects via inner-outer ellipsoids,”3 Inter-
rrd
4. Ju M. Y., Liu J. S., Hwang K. S., 2000,“Velocity alteration strategy for national Conference on Computational Intelligence, Robotics and
ਗЪڌͪجЪމՉᝈ࿀༟ࣘאᜊᅰʘਿᓾf collision-free trajectory planning of two robots,”2000 International Autonomous Systems, Singapore. Dec. 2005.
Computer Symposium, Chia-Yi, Dec. 2000. 19. Liu JS, 2006, “Exact collision detection for scaled convex polyhedra
Example 5. Lai HC, Liu JS, Lee DT, Wang LS, 2001, “Design parameters study via inner ellipsoidal deformation bounds,” 2006 IEEE Int. Conf. Ro-
on the stability and riding comfort of the electrical motorcycles under botics, Automation and Mechatronics, Bangkok, Thailand, June 2006.
rider learning,”2001 ʕശ͏਷ІਗછՓ޼ীึ, ࣹ෤, March, 2001 20. Liu JS, Kao JI, Chang YZ, 2006, “Collision detection of scaled poly-
(finalist for best student paper award). hedral objects via inner-outer ellipsoids,” IEEE Int. Conf. Intelligent

6. Chen J.L., Liu JS, Lee WC, 2001, “A recursive algorithm of obstacles Robots and Systems, Beijing, China, Oct. 2006.
Edited clustering for reducing complexity of collision detection in 2D envi-
ronment,” 2001 IEEE International Conference on Robotics and Auto-
mation, Seoul, Korea,May 2001.
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