“…the yo-yo (Hashimoto & Noritsugu, 1996;Jin et al, 2009;Jin & Zacksenhouse, 2003;沤lajpah, 2006) or a gyroscopic device called the Powerball (Cafuta & Curk, 2008;Gams et al, 2007;Heyda, 2002;Petri膷 et al, 2010), juggling (Buehler et al, 1994;Ronsse et al, 2007;Schaal & Atkeson, 1993;Williamson, 1999) and locomotion (Ijspeert, 2008b;Ilg et al, 1999;Morimoto et al, 2008). Rhythmic tasks are also handshaking (Jindai & Watanabe, 2007;Kasuga & Hashimoto, 2005;Sato et al, 2007) and even handwriting (Gangadhar et al, 2007;Hollerbach, 1981). Performing these tasks with robots requires appropriate trajectory generation and foremost precise frequency tuning by determining the basic frequency.…”