There is a project to put a fully functional Linux system into BIOS, but it only works on some hardware. I doubt something as old as what you are working with would support it.
If the BIOS doesn't support booting to USB, then you just can't do it, basically. Unless there is a BIOS update available which enables it, which again is unlikely due to the age of your hardware. There are some tricks you can do like chainloading a Linux install on a USB device from GRUB on the MBR, but it isn't as clean an option as direct USB booting.
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