That is not true. The routine is preprogrammed, but there is adaptability. If there wasn't they would fall on the ground in the first 5 seconds. The movement involved in the routine we saw requires continuous adjustment. You can't just record the movement as you would with a video game animation, real physics get in the way and you end up on your back on the ground trying to do a jump and a backflip.

If you think I am wrong, sure I could be but have a look at atlas, https://www.youtube.com/watch?v=oe1dke3Cf7I

The robots motion is not preprogramed at all, see how much more smooth the motion is?

Thats because boston dynamics are using an approach where they try to calculate and take the dynamics of motion into account, just like Unitree.

The kawasaki approach is clearly to use overwhelming torques in an effort to cancel all the dymanics and produce fully controlled movement. Exactly what an old man does as well or a robotic arm in a factory. It's honestly embarrassing it looks like kawasaki has no progress in the last 30 years their robots still move like its 1996.

Have a look here https://underactuated.csail.mit.edu/intro.html for a more indepth explanation of the difference between the two approaches.