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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 todoi:10.1109/iros.2005.1545257 dblp:conf/iros/PongasBS05 fatcat:7cafr2geebdizpqppeukvcjiae