# Heel-strike and toe-off motions optimization for humanoid robots equipped with active toe joints

> Research article (Robotica, 2018) · cited 11× · AI/ML

**Wikidata**: [openalex:W2789263283](https://www.wikidata.org/wiki/openalex:W2789263283)  
**Source**: https://4ort.xyz/entity/heel-strike-and-toe-off-motions-optimization-for-humanoid-robots-equipped-with-active-toe-joints