Could an entirely (or mostly) hydraulic muscular system work in terrestrial vertebrates?

In Invertebrates, Muscular Hydrostat, which is a form of biological hydraulic, is used for locomotion. On Earth, (as far as I'm aware) no system exists where hydraulics perform in conjunction with a hard skeleton, however some concept art, as well as the Snaiad project exists online showing that in theory it could be functional. However, the biology of Snaiad exists in a way that bodies use both hydraulic and fibrous muscles

I brought up this concept to a friend who works with hydraulics/pneumatic the other day and he argued that this would not work, with one of the reasons being that the limb would have no in-between movement, only being able to be either fully bent or not at all. Could this concept work out similarly to that displayed in the links, or is it impossible?

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Could an entirely (or mostly) hydraulic muscular system work in terrestrial vertebrates?

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