Tapered hydraulic hose, methods of making, and applications thereof in robot systems

A robot comprising:

• a body;
• a hydraulic control system;
• and
• a hydraulically-actuated component physically coupled to the body, the hydraulically-actuated component hydraulically coupled to the hydraulic control system by at least a first hydraulic hose, the first hydraulic hose having a length, at least a portion of the length which extends from a first end to a second end, and a diameter, wherein the diameter of the first hydraulic hose at the first end is a first diameter, and wherein the at least a portion of the length includes a first tapered section in which the diameter of the first hydraulic hose decreases, continuously and monotonically, to a second diameter, the second diameter being less than the first diameter, and wherein the body includes a first restricted region through which the first tapered section of the at least a portion of the length of the first hydraulic hose passes in traversing a path between the hydraulic control system and the hydraulically-actuated component.