[1] Carnegie Mellon Univ, Soft Machines Lab, Pittsburgh, PA 15213 USA
[2] Carnegie Mellon Univ, Mech Engn, Pittsburgh, PA 15213 USA
[3] Carnegie Mellon Univ, Robot Inst, Pittsburgh, PA 15213 USA
[4] Carnegie Mellon Univ, Mat Sci & Engn, Pittsburgh, PA 15213 USA
[5] Univ Coimbra, Inst Syst & Robot, Dept Elect & Comp Engn, Coimbra, Portugal
[6] Carnegie Mellon Univ, Dept Chem Engn, Pittsburgh, PA USA