1. School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138, USA.
2. Wyss Institute for Biologically Inspired Engineering, Boston, MA 02115, USA.
3. Department of Ocean Engineering, University of Rhode Island, Narragansett, RI 02881, USA.
4. Graduate School of Design, Harvard University, Cambridge, MA 02138, USA.
5. Baruch College and The Graduate Center, PhD Program in Biology, City University of New York, New York, NY 10010, USA.
6. Radcliffe Institute for Advanced Study, Harvard University, Cambridge, MA 02138, USA.