This paper introduces a new hydraulic manipulator with hydraulic-cable driven actuation (HCA) modules for disaster response mobile-manipulation. The hydraulic actuation system has the potential to apply disaster-response application, because it has a higher power-to-weight ratio and robustness to external impacts than electric motor actuation. However, using a conventional hydraulic manipulators is inappropriate because the revolute joint uses conventional actuators, such as linear cylinders and vanes, which have some limitations: 1) linear cylinder: small range of motion, 2) vane: low torque-toweight ratio. To overcome these limitations, we propose new 3DOF manipulator which has a larger workspace than the conventional hydraulic manipulator and comparable payloadto-weight ratio. To this end, we use hydraulic-cable driven actuation modules from our previous research. Experimental results verify the basic performance of the actuator modules and manipulator and their capability to perform various disaster response tasks.

This paper presents a simple method to control the motion of a quadruped robot in unknown rough terrains using a full dynamic model. First, using typical stiffness control method, the four legs' behavior is approximated to 3D spring damper systems. By this way, we can easily derive the dynamic equations of motion in Cartesian space. Based on these equations, a control strategy is proposed to obtain the asymptotical stability of the system. In addition, a reflex signal is also introduced to control the rotational disturbance of the robot body. Finally, dynamic simulation of a quadruped walking robot is performed on several unknown rough terrains to verify the proposed method.