The foot of a robot is quite important. It is also quite helpful if the robot can sense whether a foot is on the ground. In 2009 our feet noticed ground contact by four simple push buttons in each corner of the foot. Last year we tried using pressure sensors to get a more accurate notion of the foot’s standing on the ground. This year we go yet another way, having added load cells to the feet of our robots. This allows us to calculate the center of pressure on the foot and make deductions about the position of the robot.