Tetraflex: A Multigait Soft Robot for Object Transportation in Confined Environments. - Peter Wharton; Tsam Lung You; George P. Jenkinson; Richard Suphapol Diteesawat; Nguyen Hao Le; Edith-Clare Hall; Martin Stephen Garrad; Andrew T. Conn; Jonathan Rossiter (IEEE Robotics Autom. Lett., 2023)