Biologically inspired robots that are used for research of the animal and the technological realm become more and more refined. Control schemes for sensor-less and sensorized robots were developed, are able to handle torque control and sometimes even adapt to a changing task set. Further mechanics and electronics have evolved and take part in more reliable and robust bio-inspired robots. Robots reproduce animal structures or use bio-mechanical principles to excel in a specific task. Never the less, during this evolution of robots the feet were often oversimplified compared to their animal counterparts. Our current work centers around the foot as a bio-mechanically complex but extremely important end-effector.