Understanding the principle behind the dynamic systems is fascinating to me. My enthusiasm for this topic intrigues me to do research on legged locomotion. My main goal is to enable the free-floating-base articulated robots to perform highly dynamic tasks. I aspire, to develop a robot similar to a baby-goat that is able to do parkour on the steepest hills with a limited contact surface. I believe we can find the solution to this problem in an intersection of optimization-based and machine learning algorithms in the motion control aspect and inspire from adaptability and compliance of mammalian morphology in the design aspect.