In this study, we propose the use of the phase-amplitude reduction method to construct an imitation learning framework. Imitating human movement trajectories is recognized as a promising strategy for generating a range of human-like robot movements. Unlike previous dynamical system-based imitation learning approaches, our proposed method allows the robot not only to imitate a limit cycle trajectory but also to replicate the transient movement from the initial or disturbed state to the limit cycle. Consequently, our method offers a safer imitation learning approach that avoids generating unpredictable motions immediately after disturbances or from a specified initial state. We first validated our proposed method by reconstructing a simple limit-cycle attractor. We then compared the proposed approach with a conventional method on a lemniscate trajectory tracking task with a simulated robot arm. Our findings confirm that our proposed method can more accurately generate transient movements to converge on a target periodic attractor compared to the previous standard approach. Subsequently, we applied our method to a real robot arm to imitate periodic human movements.

Satoshi Yamamori

Jun Morimoto

Advanced Robotics

ADVANCED ROBOTICS（AR）是日本机器人学会的国际期刊，已有二十多年的历史。它是一本跨学科期刊，整合了机器人科学和技术研究的各个方面的出版。 ADVANCED ROBOTICS 发表来自世界各地的原创研究论文和调查论文。问题包含有关机器人和机器人技术的分析、理论、设计、开发、实施和使用的论文。该期刊涵盖基础机器人技术和与应用领域相关的机器人技术，如服务机器人技术、野外机器人技术、医疗机器人技术、救援机器人技术、空间机器人技术、水下机器人技术、农业机器人技术、工业机器人技术和新兴领域的机器人技术。它还涵盖了有关机器人的社会和管理分析以及政策的各个方面。 ADVANCED ROBOTICS (AR) 是一份国际性的、排名靠前的同行评议期刊，它发表对科学知识的原创研究贡献。所有稿件提交均需经过编辑的初步评估，如果认为适合进一步考虑，则由独立的同行评议，匿名专家裁判。

Advanced Robotics (AR) is an international journal of the Japan Society of Mechanical Engineers, with over twenty years of history. It serves as an interdisciplinary platform that integrates various aspects of robotics science and technology research, publishing original research papers and review articles from around the world. The journal covers a wide range of topics related to the analysis, theory, design, development, implementation, and application of robotics and robotic technologies. This includes fundamental robotics technologies as well as applications in service robotics, field robotics, medical robotics, rescue robotics, space robotics, underwater robotics, agricultural robotics, industrial robotics, and emerging areas of robotic technology. Additionally, the journal addresses various aspects of social and management analysis and policies related to robotics. Advanced Robotics (AR) is a well-regarded international peer-reviewed journal that aims to publish original research contributions to scientific knowledge. All submitted manuscripts undergo an initial assessment by the editorial team, and if deemed suitable for further consideration, they are subjected to independent peer review by anonymous experts.

《Advanced Robotics》（AR）是日本机器人学会的国际期刊，已有二十多年的历史。该期刊是一个跨学科的平台，整合了机器人科学与技术研究的各个方面，发表来自全球的原创研究论文和综述文章。期刊内容涵盖了机器人及其技术的分析、理论、设计、开发、实施和应用等多个领域。具体包括基础机器人技术及其在服务、野外、医疗、救援、空间、水下、农业、工业等应用领域的技术。此外，期刊还探讨了与机器人相关的社会、管理分析及政策等各个方面。《Advanced Robotics》（AR）是一份国际知名的同行评审期刊，致力于发表对科学知识的原创研究贡献。所有提交的稿件需经过编辑的初步评估，若符合进一步考虑的标准，将由独立的匿名专家进行同行评审。

Category	Quartile
计算机科学	4
计算机科学, 机器人学	4

Phase-amplitude reduction-based imitation learning

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