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On Advances in Robot Kinematics
In 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 orderdoi:10.1007/978-1-4020-2249-4_14 fatcat:un6eml3cmjdqpnbgwyxtexiqha