step responses of the robot are shown in Figures 6Ca)-

with a Differential blocked output pres- angle. sure of the photofluidic control is due to the ference in preamplifiers as summarized in times. Figures 6Cc), (d) Figure 4. shown in Figure 4, photofluidic control device response characterized opto-fluidic gain 2.22Pa per he 6f supply pressures,Ps1 at the supply pressures, opto-fluidic control device almost independent in the supply pressure optical power. three-stage proportional gain operated at the supply amplifying chracteristics of booster amplifier is in Figure 5. The supply pressure Psb chosen as the operating