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Filtering by: Funding statement We thank the National Science Foundation (NSF) (CMMI-1000389, PHY-0848894, PHY-1205878, and PHY-1150760); Army Research Office under grants W911NF-11-1-0514 and W911NF1310092; the Army Research Lab Micro Autonomous Systems and Technology Collaborative Technology Alliance under grant W911NF-08-2-0004; and the Elizabeth Smithgall Watts endowment, for financial support. D.I.G., H.C., and D.H. also acknowledge the Army Research Office and NSF Physics of Living Systems for supporting the Locomotion Systems Science Workshop in Arlington, Virginia, May 2012. Remove constraint Funding statement: We thank the National Science Foundation (NSF) (CMMI-1000389, PHY-0848894, PHY-1205878, and PHY-1150760); Army Research Office under grants W911NF-11-1-0514 and W911NF1310092; the Army Research Lab Micro Autonomous Systems and Technology Collaborative Technology Alliance under grant W911NF-08-2-0004; and the Elizabeth Smithgall Watts endowment, for financial support. D.I.G., H.C., and D.H. also acknowledge the Army Research Office and NSF Physics of Living Systems for supporting the Locomotion Systems Science Workshop in Arlington, Virginia, May 2012. Decade 2010-2019 Remove constraint Decade: 2010-2019

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