In this study, a feasibility study was performed for biomechanical applications of foot-ankle roll-over characteristics in different heel height shoes during walking. Five nondisabled female volunteers were participated in gait experiments, wearing four pairs of shoes with different heel heights. Roll-over shapes of the foot-ankle systems were obtained using trajectories of ankle, knee and the center of pressure between initial contact (IC) and opposite initial contact(OIC). Results showed that roll-over trajectories moved downwards with higher heel shoes but roll-over characteristics, represented by an arc, did not change significantly with different heel heights. The present results also support that nondisabled humans automatically adapt their foot-ankle systems to varying heel height shoes under 6cm. Roll-over characteristics in human walking will contribute future designs of prosthetics and orthotics of lower extremity as well as orthopaedic shoes.