Acknowledgement

This work is part of the RoPeRT research group of the i3A, the University of Zaragoza.

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The developed work has been experimentally evaluated and validated, showing a correct operation of the physical robot Campero. For this reason, this work is part of the activities of the project COMMANDIA (2019), co-funded by the Interreg Sudoe Program and the European Regional Development Fund (ERDF).