Foley
Also said as Footsteps and cloth, Movement sounds
Sounds of bodies and the things they touch, usually recorded by a person acting them out: footsteps, clothes, a hand on a door. The name comes from Jack Foley, who did this for early film.
Foley makes characters feel present and physical. Footsteps also carry information: who is near, how fast they move, what they are walking on.
Say it
“Record six footsteps per surface for gravel, wood, metal and snow, and add a quiet cloth layer on each step so the character has a body.”
Where you’ve seen it
For NieR:Automata, lead sound designer Misaki Shindo's team recorded the footsteps of 2B and 9S with real shoes, first for cutscenes and then in the game as well.
Not to be confused with sound effect
Foley is the small human movement, recorded to match it. Effects are the bigger designed events, such as explosions and magic.