1. Robotics Laboratory, Technology Department, UNIJUÍ—Regional University of Northwestern Rio Grande do Sul State, P.O. Box 121, Avenue Rudi Franke 540, 98280-000 Panambi, RS, Brazil
2. Centro de Matemática, Computação e Cognição, UFABC, Rua Catequese 242, 3o andar, Jardim 09090-400 Santo André, SP, Brazil