How do GREAT COMPANIES adhere to HEDGEHOG CONCEPT?

Inspired from Jim Collins’s book Good To Great, the following insight reveal how great companies adhere to the Hedgehog concept & build a culture of discipline .

“Build a culture full of people who take disciplined action within the three circles fanatically consistent with the Hedgehog concept..”

This would mean the following:

1. Build a culture around the idea of freedom and responsibility within a framework
2. Fill the culture with self disciplined people who are willing to go to extreme lengths to fulfill their responsibilities