Asimo is a publicity stunt. and it's barely capable of walking, its way of moving is very robotic and methodical. It shifts its weight forward, and its massive feet stop it from toppling over, shifts to the right or left, lifts a foot, moves it forward, sets it down, and shifts its weight back in the middle and forward again.
Constantly switching back and forth and side to side.
Humans don't do that, walking is basically constantly falling forward and catching yourself on your legs before you drop, and running is an even more extreme of that.
So by making sure that Asimo is at all times perfectly balanced and stable, they crippled its ability to do anything more than awkwardly shuffle along a flat surface.
They tried to do away with the balancing issue by circumventing and avoiding it.
Boston dynamics meanwhile, first worked on making their robots self balance. Look at the vid called leglab on their channel, extremely simple robots on tethers and cables, performing all kinds of tricks on simple stilts. And only after perfecting that did they move onto locomotion, and they didn't even start bipedal, but went quadrupedal with bigdog first.
They seem like unnecessary steps, slow things down, and a box on stilts jumping in place doesn't seem that impressive compared to Asimo, but Asimo has barely improved in years, while boston dynamics have built the fastest running robots, robots that can traverse uneven terrain, pick up objects and adjust to the added weight, catch themselves when suddenly brought out of balance by an outside force, jump, and even perform backflips, they have caught up big time on Asimo.