Design of a new foot structure based on the mast-type octahedral tensegrity structure

•A foot structure was developed basing on mast-type octahedral tensegrity structure.•To obtain the ability of rigid-flexible switching by adding ratchet structure.•Better self-adaptability, self-stability, self-recovery and stable support capacity.•The foot structure can satisfy the human ankle joint reachable workspace.•The foot structure can enhance adaptability in walking.