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Isolating self-motion manifolds on a Playstation

AuthorsPorta, Josep M. ; Ros, Lluís ; Thomas, Federico
KeywordsInverse kinematics
Hardware implementation of algorithms
Parallel algorithms
Graphic hardware
Play Station 2
Issue Date2004
CitationAdvances in Robot Kinematics: 123-132 (2004)
AbstractIn this paper, we show how it is possible to use the specialized hardware of a Play Station 2 (PS2) to speed up the execution of the Cuik algorithm, an interval-based inverse kinematics algorithm. A PS2 includes a RISC CPU and two parallel vector units able to perform four floating point multiplications and four additions in a single cycle. A careful use of these two vector units to implement the basic operations of the Cuik algorithms allows increasing the speed of the algorithm in one order of magnitude. The final implementation in the PS2 is as fast as that in a Pentium 4 at 2:6GHz (that is at least three times more expensive than a plain PS2).
Description9th International Symposium on Advances in Robot Kinematics (ARK) 2004, Sestri, Levante (Italia)
Appears in Collections:(IRII) Comunicaciones congresos
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