{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,10]],"date-time":"2026-02-10T06:56:58Z","timestamp":1770706618337,"version":"3.49.0"},"reference-count":109,"publisher":"World Scientific Pub Co Pte Ltd","issue":"01","funder":[{"name":"European Union\u2018s Horizon 2020 research and innovation programme","award":["871237"],"award-info":[{"award-number":["871237"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2022,2]]},"abstract":"<jats:p> Robotic feet play a fundamental role in the walking performance of a biped robot. Feet are essential to maintain dynamic stability and to propel the body during walking. They may ensure stability on uneven terrains. Yet, complex feet are seldom used on humanoids. This paper surveys 36 types of robotic feet we found in the literature. We classified them according to strategy, capabilities, structure, number of degrees of freedom, actuation method of ankle and foot, type of actuator, sensorization and type of control. Subsequently, we analyzed the dynamic and static models of flexible feet. We discussed considerations on foot dynamics or kinematics in the robot\u2019s whole body control system. We analyzed both active joints control for feet including actuated joints, and control for feet with elastic elements (for example, a rubber layer in the sole). Finally, we present some limitations of robotic feet and possible future developments. <\/jats:p>","DOI":"10.1142\/s0219843622500013","type":"journal-article","created":{"date-parts":[[2022,3,31]],"date-time":"2022-03-31T15:33:40Z","timestamp":1648740820000},"source":"Crossref","is-referenced-by-count":10,"title":["Humanoids\u2019 Feet: State-of-the-Art &amp; Future Directions"],"prefix":"10.1142","volume":"19","author":[{"given":"Irene","family":"Frizza","sequence":"first","affiliation":[{"name":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218\/RL, Tsukuba, Ibaraki, Japan"},{"name":"LIRMM, Universit de Montpellier, CNRS Montpellier, France"}]},{"given":"Ko","family":"Ayusawa","sequence":"additional","affiliation":[{"name":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218\/RL, Tsukuba, Ibaraki, Japan"}]},{"given":"Andrea","family":"Cherubini","sequence":"additional","affiliation":[{"name":"LIRMM, Universit de Montpellier, CNRS Montpellier, France"}]},{"given":"Hiroshi","family":"Kaminaga","sequence":"additional","affiliation":[{"name":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218\/RL, Tsukuba, Ibaraki, Japan"}]},{"given":"Philippe","family":"Fraisse","sequence":"additional","affiliation":[{"name":"LIRMM, Universit de Montpellier, CNRS Montpellier, France"}]},{"given":"Gentiane","family":"Venture","sequence":"additional","affiliation":[{"name":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218\/RL, Tsukuba, Ibaraki, Japan"},{"name":"Tokyo University of Agriculture and Technology, Japan"}]}],"member":"219","published-online":{"date-parts":[[2022,3,30]]},"reference":[{"key":"S0219843622500013BIB001","doi-asserted-by":"crossref","first-page":"824","DOI":"10.1109\/ROBOT.1988.12162","volume-title":"Proc. 1988 IEEE Int. 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