Had some issues running arm-based docker images on my Ubuntu 16.04 box. This solved my problem
https://hub.docker.com/r/multiarch/qemu-user-static/
Register qemu-*-static for all supported processors except the current one. Removes all registered binfmt_misc before
docker run --rm --privileged multiarch/qemu-user-static:register --reset
docker run -it --rm multiarch/ubuntu-core:armhf-xenial