In just about every robot video I watch the feet of the robots are almost always just a flat plate. To me it seems crucial in the development of bipedal walking to let robots have multiple joints on their feet to enable them to walk appropriately.

Upon Googling to try to find articles about the importance of toes I came across this:

Human-Like Walking using Toes Joint and Straight Stance Leg

http://www.ais.uni-bonn.de/nimbro/papers/AMAM05_Behnke.pdf

So, is this a miss that most developers simply don't think about because humans often underestimate the importance and complexity of our feet (maybe because we just see them as a single block in out shoes?) or is the mistake on my part and that I simply haven't looked close enough to see the complexity of robot feet?