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Description
Keeps track of ground position irrespective of Y axis movement of the center, then aims the toes along the ground.

Center cannot move further from motherbone than the combined length of an IK chain that keeps track of the ground-- but the chain can use bones of any length. You can always make it longer if you want to.

Might have to make some flip-flops now.

To do: create an append bone for the arch so that the arch changes with toe angle

Edit: Don't know what I was thinking. You don't need a 3-bone IK chain. A 2-bone IK chain can reach anywhere just fine.

Description
Keeps track of ground position irrespective of Y axis movement of the center, then aims the toes along the ground.

Center cannot move further from motherbone than the combined length of an IK chain that keeps track of the ground-- but the chain can use bones of any length. You can always make it longer if you want to.

Might have to make some flip-flops now.

To do: create an append bone for the arch so that the arch changes with toe angle

Edit: Don't know what I was thinking. You don't need a 3-bone IK chain. A 2-bone IK chain can reach anywhere just fine.