Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).