rope-dancer
/ˈrəʊpˌdɑːnsə/ /ˈrəʊpˌdansə/noun
A person who performs on a rope suspended at some height above the ground; a tightrope walker.
Origin
Early 17th century; earliest use found in Robert Sanderson (1587–1663), bishop of Lincoln. From rope + dancer, after rope-dancing. Compare Dutch reepdanser.