Boston Dynamics has just released this astounding video of their Atlas humanoid robot doing parkour:
The control software uses the whole body including legs, arms and torso, to marshal the energy and strength for jumping over the log and leaping up the steps without breaking its pace. (Step height 40 cm.) Atlas uses computer vision to locate itself with respect to visible markers on the approach to hit the terrain accurately.
Unfortunately the engineers failed to outfit Atlas with a speech synthesizer to yell "Parkour! Parkour! Parkour!" like so.