In this study, a structure-integrated pneumatic cable cylinder has been developed to serve as an actuator for a humanoid robot. The performance of a robot in jumping and hitting a flying object (jump-And-hit motions) has been tested in order to predict its performance during immediate and dynamic whole-body motions. The authors tested the movement of the robofs arms using a cylinder, and jumping motions were simulated to determine the design parameters for the robot performing jump-And-hit operations. Test results for the robofs arms demonstrated that a two-kilogram arm, constructed using a C3, linder with a piston, 32 mm in diameter, moves 75 degrees in 0.44 s. Simulation results for a bipedal robot's forward jumping motion demonstrated that the top of its trunk, with a 50 mm joint force-torque ratio, moves forward by 3.0 m. Using the cylinder for the robofs arms and a joint with the above force-torque ratio in its legs, a prototype of a humanoid robot has been developed that performs a variety of jump-And-hit motions with a ball flying at it from different directions. Thus, the proposed design allows robots to conveniently perform immediate and dynamic whole-body motions.