Full Idea
The usual statement of Foundation is that any nonempty set has a member disjoint from it. This phrasing is ordinal-free and closer to the primitives of ZFC.
Gist of Idea
Foundation Axiom: an nonempty set has a member disjoint from it
Source
William D. Hart (The Evolution of Logic [2010], 3)
Book Reference
Hart,W.D.: 'The Evolution of Logic' [CUP 2010], p.80