Whip to Legs

Swing out from the platform. At the back end, get up into the Whip position. At the frontend, let your legs come forward as if you were moving into a shoulder-dislocation position, give your legs to the catcher and let go of your hands.

Since you need to bring your legs through for the catch, hold the bar in a Regular Grip rather than the Narrow Grip for a normal Whip.