1. John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138, USA
2. Wyss Institute for Biologically Inspired Engineering, Harvard University, Cambridge, MA 02138, USA
3. Department of Organismic and Evolutionary Biology, Harvard University, Cambridge, MA 02138, USA
4. Media Lab, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
5. Collective Design, Grand Rapids, MI 49505, USA
6. College of Engineering and Computing, University of South Carolina, Columbia, SC 29208, USA