1. Mechanical Engineering Department, University of Michigan, Ann Arbor 48109, MI, USA
2. Materials Science Engineering Department, University of Michigan, Ann Arbor 48109, MI, USA
3. Department of Cell and Developmental Biology, University of California, San Diego 92093, CA, USA
4. Robotics Department, Ecology and Evolutionary Biology Department, Museum of Zoology, University of Michigan, Ann Arbor 48109, MI, USA