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

PDF) Toe joint mechanism using parallel four-bar linkage enabling humanlike multiple support at toe pad and toe tip

Robots and Their Killer Moves

Frontiers The GummiArm Project: A Replicable and Variable-Stiffness Robot Arm for Experiments on Embodied AI

Applied Sciences, Free Full-Text

Human-Like Toe Joint Mechanism

Applied Sciences, Free Full-Text

Enhanced Locomotion Efficiency of a Bio-inspired Walking Robot using Contact Surfaces with Frictional Anisotropy

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

Kid-size robot humanoid walking with heel-contact and toe-off motion [PeerJ]

Humanoid robot - Wikipedia

Whole-body kinematic and dynamic modeling for quadruped robot under different gaits and mechanism topologies [PeerJ]

World's most advanced' humanoid robot says she'll have working legs in less than a year