What are the loads on a drive in this use case? 35lbs robot bouncing on one foot would be 350lbs-ish of dynamic load? That can be handled with 2mm Dyneema.

At 2:02 he shows a working model with a smaller diameter cord than his earlier ones. Looked like he’s already using 1/8 or smaller.

Notice that the fastener bearing the weight of the cord is wrapped around two bends. If I recall my physics properly, each of those direction changes behaves like a pulley, halving the strain on the bight (dyneema is difficult to fasten though. Slippery bugger.)

No wait, he is already using 2mm: https://www.aaedmusa.com/projects/cara but it’s 2 ropes per leg, so maybe he could use 1/16” rope (1.6mm).