Sticky feet / contact
I've seen some animation videos where the feet are set up to react to the floor ( "0" on the Y plane?), so that when animating they do not slide/pass through. So that even if you move your model towards the floor, the feet will make contact and the IK in the legs will deform accordingly. It is also used to prevent feet sliding when animating walk cycles.
I've no real idea where this feature is in Maya or how it works. Can anyone give me a quick rundown? I've tried Maya's help files though can't find anything specific to it.