Rhythmic movement is ubiquitous in human and animal behavior, e.g., as in locomotion, dancing, swimming, chewing, scratching, music playing, etc. A particular feature of rhythmic movement in biology is the rapid synchronization and phase locking with other periodic events in the environment, for instance music or visual stimuli as in ball juggling. In traditional oscillator theories to rhythmic movement generation, synchronization with another signal is relatively slow, and it is not easy to

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... ieve accurate phase locking with a particular feature of the driving stimulus. Using a recently developed framework of dynamic motor primitives, we demonstrate a novel algorithm for very rapid synchronization of a rhythmic movement pattern, which can phase lock any feature of the movement to any particular event in the driving stimulus. As an example application, we demonstrate how an anthropomorphic robot can use imitation learning to acquire a complex drumming pattern and keep it synchronized with an external rhythm generator that changes its frequency over time.