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

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

GeneRo: a General-Purpose Robot Bridging the Gap between Humans and Robots with Amber Robotics, by Ian Cutress

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Figure 01 humanoid takes first public steps - The Robot Report

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Designing a Prototype Biped Robot Based on Spring Mass Model

Human-Like Toe Joint Mechanism

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New shank mechanism for humanoid robot mimicking human-like walking in horizontal and frontal plane

Human-Like Toe Joint Mechanism

Robots that look like humans: A brief look into humanoid robotics

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Frontiers A Holistic Approach to Human-Supervised Humanoid Robot Operations in Extreme Environments