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Existing end-to-end visuomotor policies often lack explicit temporal structure, causing brittle execution and limited recovery after disturbances. Inspired by biological motor control, where reusable primitives are organized through phase decomposition and feedback-dependent transitions, we propose a bio-inspired phase-aware framework that represents execution as structured transitions over perception-grounded motor phases. The framework integrates three modules: a Multimodal Phase-and-Primitive Detector that extracts semantically and physically consistent phases from visual, proprioceptive, and force\u2013torque signals; a Multimodal Perception Skill Graph (MPSG) that encodes feasible phase transitions and supports skipping, rollback, and recovery; and Promptable Phase Control, which converts language instructions into graph-level ordering constraints for task reordering without retraining low-level policies. Experiments on four multi-stage tasks show improved robustness, increasing the average disturbed-condition success rate from 25.0% to 73.8% relative to the monolithic Action Chunking with Transformers (ACT) baseline.<\/jats:p>","DOI":"10.3390\/biomimetics11090622","type":"journal-article","created":{"date-parts":[[2026,9,2]],"date-time":"2026-09-02T08:56:01Z","timestamp":1788339361000},"page":"622","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Bio-Inspired Phase-Aware Skill Graph for Robust Long-Horizon Robotic Manipulation with Promptable Control"],"prefix":"10.3390","volume":"11","author":[{"given":"Jincheng","family":"Sun","sequence":"first","affiliation":[{"name":"College of Information Science and Engineering, Northeastern University, Shenyang 110819, China"},{"name":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"software","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"writing-original-draft","vocabulary":"credit"},{"role":"data-curation","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7549-8873","authenticated-orcid":false,"given":"Yang","family":"Luo","sequence":"additional","affiliation":[{"name":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"University of Chinese Academy of Sciences, Beijing 101408, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"},{"role":"funding-acquisition","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8975-3847","authenticated-orcid":false,"given":"Yaqi","family":"Chu","sequence":"additional","affiliation":[{"name":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"University of Chinese Academy of Sciences, Beijing 101408, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"},{"role":"visualization","vocabulary":"credit"}]},{"given":"Xiao","family":"Wang","sequence":"additional","affiliation":[{"name":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"conceptualization","vocabulary":"credit"},{"role":"methodology","vocabulary":"credit"},{"role":"investigation","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"}]},{"given":"Yunxiang","family":"Jiang","sequence":"additional","affiliation":[{"name":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"supervision","vocabulary":"credit"},{"role":"software","vocabulary":"credit"},{"role":"validation","vocabulary":"credit"},{"role":"formal-analysis","vocabulary":"credit"}]},{"given":"Xingang","family":"Zhao","sequence":"additional","affiliation":[{"name":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"University of Chinese Academy of Sciences, Beijing 101408, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"funding-acquisition","vocabulary":"credit"},{"role":"project-administration","vocabulary":"credit"},{"role":"conceptualization","vocabulary":"credit"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3853-7458","authenticated-orcid":false,"given":"Yiwen","family":"Zhao","sequence":"additional","affiliation":[{"name":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"University of Chinese Academy of Sciences, Beijing 101408, China"}],"role":[{"vocabulary":"crossref","role":"author"},{"role":"funding-acquisition","vocabulary":"credit"},{"role":"supervision","vocabulary":"credit"},{"role":"project-administration","vocabulary":"credit"},{"role":"writing-review-editing","vocabulary":"credit"}]}],"member":"1968","published-online":{"date-parts":[[2026,9,2]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1688","DOI":"10.1523\/JNEUROSCI.05-07-01688.1985","article-title":"The coordination of arm movements: An experimentally confirmed mathematical model","volume":"5","author":"Flash","year":"1985","journal-title":"J. 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