Toe joint mechanism of human (a), and of existing humanoid robots

Watch Every Prototype to Make a Humanoid Robot, Currents

Human-Like Toe Joint Mechanism

Mini cheetah is the first four-legged robot to do a backflip, MIT News

A tactile sensing foot to increase the stability of legged robots

Humanoid Robot LOLA - Chair of Applied Mechanics

Humanoid Walking Mechanism : r/robotics

Figure 1 from Design of compliant joints and human-robot connection in an ankle-foot exoskeleton

Putting humanoid robots in contact with their environment

Discover the top types of robots for efficient automation - Standard Bots

Frontiers Control and evaluation of a humanoid robot with rolling contact joints on its lower body

Whole-body multi-contact motion in humans and humanoids: Advances of the CoDyCo European project - ScienceDirect