1. Division of Biological Sciences, Section of Ecology, Behavior, and Evolution and, University of California San Diego, 9500 Gilman Drive, La Jolla, CA 92093, USA
2. Department of Mechanical Engineering, Section of Biomimetics, Westphalian University of Applied Sciences, Münsterstrasse 265, 46397 Bocholt, Germany
3. Institute for Neural Computation, University of California San Diego, 9500 Gilman Drive, La Jolla, CA 92093, USA