A robotic device comprising: at least one sensor configured to generate data indicative of an environment in which the robotic device is operating; a hydraulic drive system comprising: a first pressure rail , a second pressure rail , and a hydraulic pump complex configured to provide pressurized hydraulic fluid at a fixed pressure to the first pressure rail and pressurized hydraulic fluid at an adjustable pressure to the second pressure rail; a control system configured to: determine one or more physical features of the environment in a direction of locomotion of the robotic device based on the data indicative of the environment, predict a hydraulic pressure to supply to the second pressure rail to traverse the one or more physical features of the environment, and vary the adjustable pressure provided by the hydraulic pump complex based on the predicted hydraulic pressure; and a switch valve complex comprising: a plurality of hydraulic fluid comprising: a first hydraulic fluid input coupled to the first pressure rail and a second hydraulic fluid input coupled to the second pressure rail, a hydraulic fluid output, and a hydraulic fluid switch that selectively connects one of the hydraulic fluid inputs to the hydraulic fluid output. at least one sensor configured to generate data indicative of an environment in which the robotic device is operating; a hydraulic drive system comprising: a first pressure rail , a second pressure rail , and a hydraulic pump complex configured to provide pressurized hydraulic fluid at a fixed pressure to the first pressure rail and pressurized hydraulic fluid at an adjustable pressure to the second pressure rail; a first pressure rail , a second pressure rail , and a hydraulic pump complex configured to provide pressurized hydraulic fluid at a fixed pressure to the first pressure rail and pressurized hydraulic fluid at an adjustable pressure to the second pressure rail; a control system configured to: determine one or more physical features of the environment in a direction of locomotion of the robotic device based on the data indicative of the environment, predict a hydraulic pressure to supply to the second pressure rail to traverse the one or more physical features of the environment, and vary the adjustable pressure provided by the hydraulic pump complex based on the predicted hydraulic pressure; and determine one or more physical features of the environment in a direction of locomotion of the robotic device based on the data indicative of the environment, predict a hydraulic pressure to supply to the second pressure rail to traverse the one or more physical features of the environment, and vary the adjustable pressure provided by the hydraulic pump complex based on the predicted hydraulic pressure; and a switch valve complex comprising: a plurality of hydraulic fluid comprising: a first hydraulic fluid input coupled to the first pressure rail and a second hydraulic fluid input coupled to the second pressure rail, a hydraulic fluid output, and a hydraulic fluid switch that selectively connects one of the hydraulic fluid inputs to the hydraulic fluid output. a plurality of hydraulic fluid comprising: a first hydraulic fluid input coupled to the first pressure rail and a second hydraulic fluid input coupled to the second pressure rail, a hydraulic fluid output, and a hydraulic fluid switch that selectively connects one of the hydraulic fluid inputs to the hydraulic fluid output. <EOS>