Design philosophies based on mechatronics have been frequently explored in recent years to create high performance robotic systems. In a mechatronics approach, the mechanical structure, the actuators, the sensors, and the controller design of the robotic system cannot be separated but must be considered simultaneously. There are significant interactions and intricate relationships between the dynamic behaviors of these components which make up the overall system. In order to achieve high performance, a cohesive and comprehensive design methodology, considering these interactions are necessary.