The measurement of foot-sole pressure for a robot's feet during a walking has been realized recently with the use of resistive force sensor arrays which assist in generating pressure maps of the sole. In order realize the feat, the foot-sole pressure distribution was determine by means measuring contact forces such as ground reaction forces, zero moment point and center of pressure. These parameters are important for stability control. One method of measuring foot pressure is by implementing a force sensitive resistor (FSR) on an in-shoe design. One FSR design is F-Scan which are piezoresistive elements made by screen-printing of piezoresistive ink on thin polymer film substrate. The measurement involves a voltage divider circuit which drive the sensor element as a resistor and yields a proportional voltage. In so doing the measurement, it was found that there are three stages when the foot is on the ground: heel-strike, mid-stance and propulsive. A simulation was then implemented on the tests. The system has turned out to be useful for studies that aimed to develop biped robots.