Henry II of England (1154-1189) kept a permanent royal infantry "guard" that, with the usual household knights, formed the core of the royal host. He fed, clothed, armed, and trained them as spearmen to counter knights in the field, and as "engineers" that specialized in siege operations. Unlike feudal levies, they were disciplined, capable of marching/fighting in formation, and didnt go home after 40 days.
He also set up main arsenals in each of his Continental domains so they could be easily armed and supplied: Rouen (Normandy), Chinon (Anjou), Poitiers (Poitou), Nantes (Brittany), & Bordeaux (Aquitaine).
Of course they moved slower than cavalry and still needed knights to scout, screen, and forage. On the battlefield, like most spearmen of the day, their talents were defensive in nature, so the knights were still essential. But they certainly gave him a big advantage over his contemporaries.
I have no idea what happened to these troops after Richard's accession.