Many of the concepts of the carpals carry over to the tarsals. Like the wrist there are a series of smaller flexible bones (tarsals) that form the ankle. Then there are bones called metatarsals and then phalanges. There are seven total tarsal bones and remember that the one that actually articulates with the tibia and fibula is talus. The digits are also numbered similarly from 1-5 (largest to smallest)
Source: Mind of Aaron
This video covers the anatomy of the ankle and foot
Source: Self made with Netter