In a method of driving a hydraulic system, a contracting force is applied to a hydraulic actuator, thereby causing hydraulic fluid from the hydraulic actuator to flow through a first hydraulic pump motor into a first accumulator, thereby causing the first hydraulic pump motor to apply rotational energy to a shaft. The rotational energy from the shaft is applied to a second hydraulic pump motor, thereby causing hydraulic fluid to be pumped from a second accumulator to a third accumulator so as to store energy in the third accumulator. Once energy is stored in the third accumulator, the second hydraulic pump motor is driven with hydraulic fluid stored in the third accumulator so as to apply rotational energy to the shaft, thereby driving the first hydraulic pump motor to pump hydraulic fluid from the first accumulator to the hydraulic actuator, thereby applying an expanding force to the hydraulic actuator.