diff --git a/Assets/Scripts/Control/FeetController.cs b/Assets/Scripts/Control/FeetController.cs
new file mode 100644
index 0000000..b9536ec
--- /dev/null
+++ b/Assets/Scripts/Control/FeetController.cs
@@ -0,0 +1,227 @@
+using System.Collections;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+public sealed class FeetController : MonoBehaviour
+{
+    [SerializeField] private Rigidbody playerRb;
+    [SerializeField] private float acceptableRestingDistance = 0.3f;
+    [SerializeField] private float footLiftDelay = 0.1f;
+    [SerializeField] private float footBackToGroundDelay = 0.5f;
+    [SerializeField] private float feetDistanceToCenter = 0.2f;
+    [SerializeField] private float stepDistanceMultiplier = 1f;
+    [SerializeField] private float maxStepHeight = 1f;
+    [SerializeField] private float stepMinDistanceToWalls = 0.1f;
+    [SerializeField] private float distanceUnderFootFloorDetection = 0.1f;
+
+    private Vector3 leftFootPosition = Vector3.zero;
+    private Vector3 rightFootPosition = Vector3.zero;
+
+    private bool isRightFootNextToLift = true;  // Updated when lifting a foot
+    private bool isAtRest = true;
+    private bool isLiftingFoot = false;
+
+#if UNITY_EDITOR
+    public const float feetRadius = 0.15f;
+    [SerializeField] private GameObject leftfoot_debug;
+    [SerializeField] private GameObject rightfoot_debug;
+
+    private void OnDrawGizmosSelected()
+    {
+        Handles.color = Color.magenta;
+        Handles.DrawSolidDisc(leftFootPosition, Vector3.up, feetRadius);
+        Handles.DrawSolidDisc(rightFootPosition, Vector3.up, feetRadius);
+    }
+#endif
+
+    private void Awake()
+    {
+        ResetFeetPositions();
+    }
+
+    /// <summary>
+    /// Reset the feet position without playing sounds.
+    /// Should be used for init or reset purposes only, as otherwise footsteps might sound odd.
+    /// </summary>
+    private void ResetFeetPositions()
+    {
+        (leftFootPosition, rightFootPosition) = GetFeetRestPosition();
+    }
+
+    /// <summary>
+    /// Get the expected feet location if we were at rest
+    /// </summary>
+    /// <returns>Tuple or expected feet location: (expectedLeft, expectedRight)</returns>
+    private (Vector3, Vector3) GetFeetRestPosition()
+    {
+        Vector3 feetCenter = transform.position;
+        Vector3 towardsRight = transform.right;
+        Vector3 expectedLeft = feetCenter - feetDistanceToCenter*towardsRight;
+        Vector3 expectedRight = feetCenter + feetDistanceToCenter*towardsRight;
+        return (expectedLeft, expectedRight);
+    }
+
+    /// <summary>
+    /// Know whether feet are in rest position or not
+    /// </summary>
+    /// <returns>Whether feet are in rest position or not</returns>
+    private bool AreFeetInRestPosition()
+    {
+        var (expectedLeft, expectedRight) = GetFeetRestPosition();
+        return (
+            Vector3.Distance(expectedLeft, leftFootPosition) < acceptableRestingDistance
+            || Vector3.Distance(expectedRight, rightFootPosition) < acceptableRestingDistance
+        );
+    }
+
+    /// <summary>
+    /// Lift the foot. Says it all.
+    /// </summary>
+    private void LiftFoot()
+    {
+        if (isLiftingFoot) return;  // Can't lift two feet at the same time
+        isLiftingFoot = true;
+        
+        Vector3 liftSoundPosition = isRightFootNextToLift ? rightFootPosition : leftFootPosition;
+        isRightFootNextToLift = ! isRightFootNextToLift;
+        
+        // Trigger sound at position
+        GameObject floor = getFloorUnderPosition(liftSoundPosition);
+        if (floor == null) return;  // No floor under foot
+
+        TriggerFootLift footLift = floor.GetComponent<TriggerFootLift>();
+        if (footLift == null) return;   // No foot lifting behavior
+
+        footLift.OnFootLift(liftSoundPosition);
+    }
+
+    /// <summary>
+    /// Predict where the next foot to place should be placed
+    /// Returns a Vector3: predicted position, or rest position when no suitable position found
+    /// Returns a Collider: collider the foot is placed on, or null if no suitable position found
+    /// </summary>
+    /// <returns>Whether the foot can be placed forward ; where it should be placed ; the collider under the foot</returns>
+    private (Vector3, Collider) PredictFootPosition()
+    {
+        // Get position at rest
+        var (restLeft, restRight) = GetFeetRestPosition();
+        // We want the foot opposite to the next to lift (we want the next to place on ground)
+        Vector3 restFoot = isRightFootNextToLift ? restLeft : restRight;
+        
+        // Project position forward, in moving direction
+        Vector3 stepMovement = playerRb.linearVelocity * stepDistanceMultiplier;
+        
+        Vector3 projectedPosition;
+        // Test for walls: feet can't go through walls
+        if (Physics.Raycast(restFoot, stepMovement, out RaycastHit hit, stepMovement.magnitude))    // TODO wall mask
+        {
+            // There is a wall => foot cannot go through. Must place it in front of the wall.
+            projectedPosition = restFoot + stepMovement.normalized * (hit.distance - stepMinDistanceToWalls);
+        }
+        else
+        {
+            // No wall => can take a step forward
+            projectedPosition = restFoot + stepMovement;
+        }
+
+        // Raycast downwards to take slopes into account
+        Vector3 rayStart = projectedPosition + Vector3.up * maxStepHeight;
+        if (Physics.Raycast(rayStart, Vector3.down, out hit, maxStepHeight*2))      // TODO floor mask
+        {
+            // Found ground to place foot on at raycast hit point
+            return (hit.point, hit.collider);
+        }
+        else
+        {
+            // No ground to place foot on => use rest position as a backup
+            return (restFoot, null);
+        }
+    }
+
+    /// <summary>
+    /// Place a foot on ground. Says it all.
+    /// </summary>
+    private void PlaceFootOnGround()
+    {
+        if (!isLiftingFoot) return;     // Can't place foot on ground if none are lifted
+        isLiftingFoot = false;
+
+        var (predictedFootPosition, underFootCollider) = PredictFootPosition();
+        if (isRightFootNextToLift)
+        {
+            leftFootPosition = predictedFootPosition;
+        }
+        else
+        {
+            rightFootPosition = predictedFootPosition;
+        }
+
+        // Activate colliders at new foot location
+        if (underFootCollider != null)
+        {
+            // Walking on a collider
+            TriggerFootstep trigger = underFootCollider.GetComponent<TriggerFootstep>();
+            if (trigger != null)
+            {
+                trigger.OnFootstep(predictedFootPosition);
+            }
+            // Otherwise, collider is not supposed to be walked on (edge case)
+        }
+        // Otherwise, no collider found under foot, we should probably do nothing (edge case)
+    }
+
+    /// <summary>
+    /// Get the floor gameobject that is under the given position
+    /// </summary>
+    /// <param name="position">The position to check</param>
+    /// <returns>The floor object that is under the given position, or null if foot is not on a floor</returns>
+    private GameObject getFloorUnderPosition(Vector3 position) {
+        Vector3 rayStart = position + distanceUnderFootFloorDetection*Vector3.down;
+        if (Physics.Raycast(rayStart, Vector3.down, out RaycastHit hit, distanceUnderFootFloorDetection*2)) {  // TODO floor mask
+            return hit.collider.gameObject;
+        }
+        return null;
+    }
+
+    /// <summary>
+    /// Walk until at rest again
+    /// </summary>
+    /// <returns></returns>
+    IEnumerator WalkCoroutine()
+    {
+        isAtRest = false;
+        bool isWalking = true;
+        while (isWalking)
+        {
+            LiftFoot();
+            yield return new WaitForSeconds(footBackToGroundDelay);     // Wait after lifting to foot
+
+            PlaceFootOnGround();
+            yield return new WaitForSeconds(footLiftDelay);     // Wait before lifting the foot again
+            if (AreFeetInRestPosition())
+            {
+                isWalking = false;
+            }
+        }
+        isAtRest = true;
+    }
+
+    /// <summary>
+    /// Update performed every physics frame
+    /// </summary>
+    private void FixedUpdate()
+    {
+        // When at rest, start moving feet when leaving acceptable resting distance
+        if (isAtRest)
+        {
+            if (! AreFeetInRestPosition())
+            {
+                StartCoroutine(WalkCoroutine());
+            }
+        }
+        leftfoot_debug.transform.position = leftFootPosition;
+        rightfoot_debug.transform.position = rightFootPosition;
+    }
+}
diff --git a/Assets/Scripts/Control/FeetController.cs.meta b/Assets/Scripts/Control/FeetController.cs.meta
new file mode 100644
index 0000000..164888e
--- /dev/null
+++ b/Assets/Scripts/Control/FeetController.cs.meta
@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 0c1ad1d866e9c78439fa3d7b156ff06a
\ No newline at end of file