Looking for information on how pistons move robot legs

Hi everyone. I am a newbie when it comes to robotics but recently I’ve become interested. I would like to know how hydraulic/pneumatic pistons work together to move the different leg types, but so far haven’t found anything straight forward and easy to understand. Its all variations of “they mimic leg muscle movement” without going into details on how exactly they do that. Would anyone be able to provide a good reference or be able to explain how it works?

submitted by /u/ILikeNerdyStuff
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