Let's try moving the ankles.
 Here, I'll be explaining the different types of ankle movement, in addition to how to do the movement. The following are the three types of ankle movement. The brackets contain the modes in which they work.
 
①Ankle axis mode (works with both IK and FK) = This mode rotates the foot around the ankle.
②Toe axis mode (IK only) = This mode rotates the foot around the toes.
③Tiptoe mode (IK only) = With this mode, the foot will stand with toes, and end up on tiptoes. Standing on heels is also possible.