Abstract— A tendon-driven robot has an advantage of setting mass distribution and facilitation of the motion and so on. This paper explains a procedure of designing the tendon-driven robot using single actuator. The joint torque is generated by the single actuator and wire that passes through the pulleys attached on the links. In order to setting pulley position, a geometrical condition to realize the desired motion is adopted. For evaluation of the proposed method, a physical monopod robot is developed for vertical jumping. We compared calculated and physical force on the contacting point of the robot, and observed the jumping motion.