Ariadna Yerpes

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About

Ariadna Yerpes is a robotics researcher whose work centers on the design, modeling, and control of modular robotic systems. Her primary contributions lie in applying graph theory to represent and analyze the configurations of reconfigurable modular robots, enabling a systematic understanding of how different module arrangements affect a robot’s capabilities. In her highly cited 2008 paper, "Modelling of Modular Robot Configurations Using Graph Theory," she established a foundational framework for describing and optimizing modular robot topologies. Her follow-up work, "Modular robot based on 3 rotational DoF modules," demonstrated the advantages of using a three-degree-of-freedom spherical actuator in the base module, allowing the system to perform both displacement and object manipulation tasks. This design significantly increases the complexity of coordination patterns and control algorithms, pushing the boundaries of what modular robots can achieve. With over a decade of influence, Yerpes’ research continues to inspire advances in reconfigurable robotics, particularly in areas requiring versatile, adaptive, and dexterous robotic systems.