In this paper, two methods to calculate the direct dynamic model (DDM) of walking robots are presented. These methods derive from the Walker-Orin (1982) method and from the Featherstone (1983) method, generally used to compute the DDM of robot manipulators. The comparison is made on the number of operations for each method and for walking robots: a biped robot and a quadruped robot. It is shown that Featherstone's method is better than Walker-Orin's one.

Describes the use of a parallel memory system for a SIMD architecture for signal processing. This paper develops the Chinese linear skewing scheme in order: (1) to have conflict-free access to vectors of interest in signal processing; (2) to allow a simple computation of local addresses; and (3) to use 100% of the memory capacity. With a linear skewing scheme, the vectors fetched from the parallel memory belong to a class of vectors called p-ordered vectors. For an odd number of memory banks, we present a new multidimensional alignment network which is able to unscramble all p-ordered vectors and which has a topology that is easy to implement.>