Human shoes are designed to give many functionalities such as giving stability under muddy terrains or intentionally causing instability when fast movement is needed. This research is to design “shoes for bipedal robots to give stability.” The idea is to put hight adjustable toe and side wall to the sole of bipeds. The toe and side wall function as “brakes” when the robot inclines too much. Good point is that the toe and side wall have no effect on walking stably since they do not touch on the ground. The degree of braking effect is easily controlled by adjusting the heights during swing phase, which is easily done by small motors with low back drivability.