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A sensor attached to the sole of the foot of a biped robot to detect a Zero Moment Point (ZMP) is proposed and basic experimental results are presented. The sensor simultaneously detects the center position of a two-dimensional distributed load on the surface of the sensor and the total load of the distribution.The sensor is sheet-like in form, lightweight (0.2g/cm 2 ), offers a high-speed response (within 1 ms), and needs a little wiring (four wires). In the present paper, the principle of the above-described sensor and its characteristics are described, and the ZMP locus is shown for a walking biped robot with the attached sensors.

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