Free Tendons for Travelling Wave generation in Elastomer Membranes. - Peter Wharton; Hermes Bloomfield-Gadêlha; Andrew T. Conn (RoboSoft, 2021)

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)