1. School of Engineering and Applied Sciences, Wyss Institute for Bio-inspired Engineering, Harvard University, Cambridge, MA 02138, USA
2. Emergent Complexity in Physical Systems Laboratory (ECPS), École Polytechnique Fédérale de Lausanne, Lausanne 1015, Switzerland
3. Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul 151-744, Korea
4. Kavli Institute for Nano-Bio Science and Technology, Wyss Institute for Bio-inspired Engineering, Harvard University, Cambridge, MA 02138, USA
5. Department of Physics, Wyss Institute for Bio-inspired Engineering, Harvard University, Cambridge, MA 02138, USA