Autonomous Decentralized Control for Motion Switching in an Intestine-Inspired Peristaltic Mixing Pump Adaptive to Physical Phase Transitions of Mixed Materials. - Takaaki Tanno; Ryosuke Adachi; Koya Tsurumi; Fumio Ito; Tomoki Hanamura; Takuya Umedachi; Taro Nakamura 001 (IEEE Robotics Autom. Lett., 2025)