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In recent decades, a robotic system has been spread in various industrial fields for the realization of automation. The use of versatile automated robotic facility leads to reduction of manufacturing costs, product quality increase, productivity growth, and the prevention of safety accident. Automated manipulators also can be used widely in steel manufacturing instead of human operations, because there are a lot of harsh circumstances in the plants such as the heavy iron products handling, limited working spaces, high temperature, dusts, etc.1–4) In general, the continuous casting of molten steel is the process of making semi-finished products such as slab, bloom, and billet. The surroundings in continuous casting processes are sometimes perilous for workers, because the molten steel might be dispersed toward workers. Hence, manipulators that can replace the human operation in dangerous workplaces are required. For instance, manipulators can be used at temperature detecting, molten steel sampling, inserting mold flux, nozzle opening and cleaning, and Development of a Hydraulic Shroud Nozzle Manipulator with Robust Force Control in Continuous Casting Process