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This paper illustrates three ways to construct a prediction and recognition system of robotic body attitude. The first is to mount a 3D gyroscope and an ultrasonic set on the shank and the knee. These sensors could help the robot to detect the changed ground then obtain useful reference signals. The second will be to measure the lateral force on the sole then to determine the friction between the robotic sole and the ground. Since coefficient of friction indicates what type of the ground is, the lateral force will be a useful variable for biped robot gait controls. The last is to develop an active force compensation mechanism which acts similar as human arching structure. The mechanism will protect the robot from small raised objects on the ground. From the experimental results, the feasibility of the proposed scheme is demonstrated.