Universitat Pompeu Fabra, Synthetic, Perceptive, Emotive and Cognitive Systems group (SPECS), Barcelona, Spain, Federal University of Rio Grande do Norte (UFRN), Brain Institute (ICe), Natal, Rio Grande do Norte, Brazil.|Brandeis University, Biology Department & Volen Center for Complex Systems, Waltham, Massachusetts, United States of America.|Universitat Pompeu Fabra, Synthetic, Perceptive, Emotive and Cognitive Systems group (SPECS), Barcelona, Spain, Catalan Institute of Advanced Research (ICREA), Passeig Lluís Companys 23, Barcelona, Spain, Universitat Pompeu Fabra, Center of Autonomous Systems and Neurorobotics (NRAS), Barcelona, Spain.