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About

Cheng-Lin Liu is a robotics researcher whose work centers on the mathematical foundations of rigid-body motion, multi-robot coordination, and sensor calibration. His most impactful contribution is the development of dual quaternion operations for hand–eye calibration (2023, 25 citations), which provides a unified, singularity-free framework for solving the classic problem of determining the transformation between a robot’s end-effector and its camera. This work simplifies complex spatial reasoning and has practical implications for industrial automation and surgical robotics. Liu also advanced formation control for multi-robot systems, proposing a leader-following algorithm that integrates Polar Histogram obstacle avoidance (2015, 12 citations). This approach enables teams of mobile robots to maintain coordinated formations while navigating cluttered environments, a key challenge in swarm robotics and autonomous logistics. More recently, he introduced a two-step solution for robot-world calibration (2023, 7 citations) that leverages Chasles’ motion decomposition within the Ad(SE(3)) Lie group, making the calibration process more intuitive and computationally efficient. Liu’s research bridges abstract geometric algebra with real-world robotic applications, earning him recognition for clarity and practical utility. His work continues to influence both theoretical robotics and hands-on system design.