- Received September 30, 2016.
- Accepted March 21, 2017.
- Published online March 24, 2017.
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© 2017. Published by The Company of Biologists Ltd http://www.biologists.com/user-licence-1-1/
- 1Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA
- 2Robotics Institute Carnegie Mellon University, Pittsburgh, PA, USA
- 3Department of Mechanical Engineering, Stanford University, Stanford, CA, USA
- 4Department of Bioengineering Stanford University, Stanford, CA, USA
- ↵*Author for correspondence: Carnegie Mellon University, Mechanical Engineering, Scaife Hall, 5000 Forbes Avenue, Pittsburgh, PA 15213, USA, Email: , Phone: 703-946-3121
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