Provided is a foot structure for a humanoid robot capable of effectively keeping its balance in a pause state or action. In some embodiments, the substrate includes a recording structure having a magnetic recording layer. Methods for calculating intrinsic properties and an entry pupil location of an adjustable camera lens are also disclosed. To achieve this, both the pulling and tensioning equipment, as well as supply and take-up reels or drums may be elevated to power line voltage and the current is transferred between new conductor and old, while in transit to the line, by means of a brush system and a conducting wheel which may or may not be integral with pulling and tensioning equipment. The center core is inside of the spool. The method further includes modifying the available data have a second data format and a second protocol, the modified data including the first context identifier, and performing a field operation based on the modified data to generate processed data, the processed data including the first context identifier.