Defending champion and former world record holder Liu Xiang of China said his target at the World Indoor Championships is to reach Sunday's final.

China's Liu Xiang competes in the men's first round 60m hurdles at the 2010 IAAF World Indoor Athletics Championships in Doha, capital of Qatar, on March 12, 2010. Liu advanced into the semifinal with 7.79 seconds. [Chen Shaojin/Xinhua]

Liu, who has only competed once indoors this winter finished his heat in 7.79. He didn't look as fluent as he's used to be especially over the hurdle but one can tell that his talent hasn’t faded despite a year-and-a-half of fighting off his injury.

"I am very excited to be here," said Liu to the championships' official website. "I feel very relaxed. My tendon is sore. I feel like I have no energy, no power in it.

"So, my goal is to get into the final. When I told it to Trammell, he did not believe me. But this time it is true. My real target is to be in the final, no medals, nothing else. I think, the gold is impossible this time. I do not believe in any medal. I still feel very uncomfortable due to the injury.”

Liu ran a conservative race and was content with third in heat 3 – the top four from each heat advanced.

Ahead of him Russia's indoor record holder Evgeniy Borisov held off Germany's Helge Schwarzer for the heat win 7.74 to 7.76.

Liu, also the Athens Olympic champion, Beijing Olympic champion Dayron Robles and American veteran Terrence Trammell haven't competed in the same race since the Osaka World Championships final in 2007.

Trammell was the first of the golden trio to compete as the U.S. champion ruled over heat 2. The double Olympic silver medallist was extremely powerful over the obstacle and it mattered little that he hit the third on his way to the day's equal fastest time of 7.60.

Trammell said: "I just tried to go ahead, focus on my race, and not to worry about distraction. I've already been here before. I made it through as safely as possible."

Robles took what he described as an "easy" win in the fifth and final heat. The Cuban champion's powerful technique and superior speed gradually brought him back to the top of the field and all he had to do was shut down to cross the line in 7.74.

"It was a very slow race," Robles explained. "I did not hear the starting gun. I felt relaxed and I am happy to make it to the semifinals.

"The track is great. I love the venue. I am happy to be back to a major championship. I feel confident. We athletes share the same goal. I am always aiming at gold, as well as the others. This is a very competitive event. I will focus on the semis first and then the final."

Former world outdoor champion Ladji Doucoure of France crashed out injured from heat four after just two hurdles.