To the hero of all adventures, my father Marcos. And to love itself, my mother Herminia, my eternal gratitude for always encouraging my inner child and all the sweet things I carry in my heart. I would also like to take the opportunity to thank all my grandparents, uncles, aunts, cousins and the "Galera" family in helping my parents in this mission. To my legendary best friends: Juliana, Michele and Rafael-whom I have the fortune of having as siblings-no matter how much time passes, nothing is ever legendary without your presence. I will be there for you because I want in that way. My sincere thanks to my supervisor, professor Roseli Romero, for her extraordinary work with me, for all the hours of joy and sadness together and for having matured so much and in so many aspects of my life. I will miss you very much and I know wherever I will be in my future, I will always be brilliant because you believed in me and always dreamed with me. To my older brother Daniel Ferras, born from different parents but bonded by music, thank you for supporting me all the time with your advice and your melody. A very special thanks to my lab-mates, of flesh or metal, from the "Laboratório de aprendizado de Robôs", who lovingly suffered this journey with me, especially my very good friend and admired researcher Dr. Adam Moreira and my favorite workmate, Teddy the robot. Thank you to the under-grad students that I had the honor of mentoring; João Valentini,