https://newatlas.com/ghost-minitaur-quadruped-robot/45707/
Uses direct drive (A direct drive mechanism is one that uses the torque coming from a motor without any reductions (such as a gearbox).)
And the jerboa
https://en.wikipedia.org/wiki/Direct_drive_mechanism
The science paper: https://repository.upenn.edu/cgi/viewcontent.cgi?article=1766&context=ese_papers