Gait motion is strongly relating with human health. Therefore, it is important to analyze the gait motion. This study aims to develop a system to measure sole pressure, acceleration and angular velocity in gait motion. Then the system can measure the parameters by using seven force sensors and six-axis inertial sensor for each sole. The experiment was performed with three normal subjects by using the proposed system. An analysis method consists of three steps. The first step specifies gait cycle from the value of the acceleration. The second step calculates the excursion of ankle joint by integrating the angular velocity. The third step specifies foremost and hindmost points of gravity center in gait cycle from the seven force sensors and calculates anteroposterior distance of gravity centers. The target parameters were excursion of ankle joint and anteroposterior distance of gravity centers. In the experiment, stride lengths of the subjects were three patterns of 10 cm, 50 cm, and 100 cm. There was a tendency that the ankle excursion was small when the stride was small.