Isolating Self-Motion Manifolds on a PlaystationTM [chapter]

J. M. Porta, L. Ros, F. Thomas
2004 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 order
more » ... 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).
doi:10.1007/978-1-4020-2249-4_14 fatcat:un6eml3cmjdqpnbgwyxtexiqha