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Description
So, here's what I got. Could probably be tuned somewhat, but I think the structure is sound (and it's toes, who am I kidding, not going to spend hours tuning this).

Will have to make a version of this for my fingers. Which will actually be simpler, because I don't need to control for a floor (well at least not yet, maybe someday.) Floor constraints in Blender are kind of a pain to work with for this kind of stuff, because they just translate the bone, they don't rotate it, and because they can't affect a bone tail, so I need extra complexity to make it work. But the IK structure, as opposed to the append-like structure I previously made for the fingers, gives a better, more natural, more tuneable range of motion.

Blender has three basic controls that every user knows immediately: rotate, grab, scale. I'm trying to use scaling as an additional way to manipulate bones, hopefully intuitively, but in a way that doesn't scale the mesh, just scales the positions that bones aim at. Here, scaling in the Y axis scrunches the toes up, scaling in the X axis spreads the foot.

Description
So, here's what I got. Could probably be tuned somewhat, but I think the structure is sound (and it's toes, who am I kidding, not going to spend hours tuning this).

Will have to make a version of this for my fingers. Which will actually be simpler, because I don't need to control for a floor (well at least not yet, maybe someday.) Floor constraints in Blender are kind of a pain to work with for this kind of stuff, because they just translate the bone, they don't rotate it, and because they can't affect a bone tail, so I need extra complexity to make it work. But the IK structure, as opposed to the append-like structure I previously made for the fingers, gives a better, more natural, more tuneable range of motion.

Blender has three basic controls that every user knows immediately: rotate, grab, scale. I'm trying to use scaling as an additional way to manipulate bones, hopefully intuitively, but in a way that doesn't scale the mesh, just scales the positions that bones aim at. Here, scaling in the Y axis scrunches the toes up, scaling in the X axis spreads the foot.