Peltier-based freeze-thaw connector for waterborne self-assembly systems. - Shuhei Miyashita; Flurin Casanova; Max Lungarella; Rolf Pfeifer (IROS, 2008)

Tribolon: Water based self-assembly robot with freezing connector (video). - Shuhei Miyashita; Flurin Casanova; Max Lungarella; Rolf Pfeifer (IROS, 2008)

A novel mechanism for varying stiffness via changing transmission angle. - Hung Quy Vu; Lijin Aryananda; Farrukh Iqbal Sheikh; Flurin Casanova; Rolf Pfeifer (ICRA, 2011)