The entire structure and principle of a pendulum wave energy converter (WEC) are introduced, and the designs of the dual-medium pressuriser and the dual-stroke hydraulic system are emphasised. The entire system and the one-stroke system are modelled and simulated to verify the feasibility of the dual-medium pressuriser and the dual-stroke hydraulic system. The experimental data acquired from the semi-physical test rig are analysed and validate the energy transmission strategy described in this paper.