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Chris Lehnert

Contact Details

Chris Lehnert | PhD Research Student | School of Electrical Engineering and Computer Science
Science and Engineering Faculty | Queensland University of Technology
phone: + 61 0407 267 786 | email: c.lehnert@qut.edu.au
Gardens Point, S Block 1107 | 2 George Street, Brisbane, QLD 4001

Brief bio

Chris holds a Bachelor of Engineering majoring in mechatronics from the University of Queensland, awarded in 2009. He is currently finalising his PhD at the Queensland University of Technology, which seeks to develop a learning control system that can adapt to the system model of an imprecisely manufactured robot. The research seeks to converge the biological knowledge of the motor cortex and cerebellum with the control theory domain of iterative learning control for robotic applications.

Current Progress

Currently, Chris is working on learning to control a multidimensional elastic robot arm, consisting of multiple series elastic actuators. This robot arm was designed to play the violin, using the elastic elements to play a note using the violin bow. By having a compliant design it allows the robot arm to apply a smooth force to the violin without damaging the object. A video of the robot arm is shown below, which demonstrates it's elastic motion. Future work will aim at simultaneously gathering motion information from the arm and then using this information to learn to control itself.

 

Peer-Reviewed Publications

[1] C. Lehnert and G. Wyeth, “Locally Weighted Learning Model Predictive Control for Nonlinear and Time Varying Dynamics,” in International Conference of Robotics and Automation, 2013. 

[2] C. Lehnert and G. Wyeth, “Locally Weighted Learning Model Predictive Control for Elastic Joint Robots,” in Australasian Conference on Robotics and Automation, 2012. PDF

[3] C. Lehnert and G. Wyeth, "Learning multidimensional joint control of a robot using receding horizon locally weighted regression," 2011. PDF

[4] C. Lehnert and G. Wyeth, "Adding a Receding Horizon to Locally Weighted Regression for Learning Robot Control," in International Conference on Intelligent Robots and Systems, 2011. PDF

[5] D. Ball, G. Wyeth, and C. Lehnert, "A Practical Implementation of a Continuous Isotropic Spherical Omnidirectional Drive," in International Conference for Robotics and Automation, 2010. PDF

Side Projects

Micro Unmanned Aerial Vehicle (µAV)

Currently designing and constructing a micro unmanned aerial vehicle that is capable of autonomously nagivating within an indoor environment, which also fits in the palm of your hand.The concept has been designed to be cheap and easily constructed by using a single PCB board as the mechanical and electrical design of the system. The project has currently finalised the electrical design and will begin constructing a prototype very shortly. An image of the final design is shown below.