The design of a proposed new mechanism for the self-loading of shipping containers onto truck-trailers is described. The mechanism possess a complex array of interconnected hydraulic cylinders and has the ability to load from either side of the trailer. The objective of the research was to design, build and control a half-scale working model of the proposed mechanism in order to determine whether or not the concept of the design could be realised. The mechanical design, hydraulic circuit, and kinematic analysis for the half-scale model are discussed in prelude to the controller design. A combined feedforward feedback control strategy driven by teleoperator rate commands was found to be an effective way to control the mechanism. In conclusion the research was successful. The design concept was proven to work and the controller was shown to provide excellent tracking performance. Work is now continuing on the design and development of a full-sized prototype.