Cheetah inspired robots are nothing new. We have covered a bunch of them in the past. The LEAP soft robots (Leveraging Elastic instabilities for Amplified Performance) are Cheetah inspired soft robots that can reach speeds up to 2.7 body lengths per second. These robots measure 7cm long, weighing about 45 grams.
This video by NCSate researchers shows how these soft robots are capable of performing faster than previous generation of soft robots.