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"The wealth of the universe is all over your head. We need to take command of the solar system to gain that wealth..."
- Larry Niven

Antigrav Boots  
  Footgear that negate gravity.  

Probably the first use of the term "antigrav" as a contraction of "antigravity" (which first appeared in The Vanguard of Neptune, by J.M. Walsh, in 1932).

Johnson, Bridges and Howe stumbled in from outside, stomping the powdery snow from their thick-soled antigrav boots.
From The Day We Celebrate, by Nelson S. Bond.
Published by Astounding Science Fiction in 1941
Additional resources -

SF great Theodore Sturgeon picked up on this word in June of the same year, in his story The Artnan Process; the Bond story was published in the January issue:

The ship settled down gently, her antigrav plates moaning.

From The Artnan Process, by Theodore Sturgeon.

For other science-fictional methods of maintaining your footing in various low gravity situations, see the magnetic shoes from Murray Leinster's 1953 novel Space Tug, the magnetized boots from Lost Rocket (1941), by Manly Wade Wellman, the steel-lined space boots from Roamer of the Stars (1938) by Clyde Wilson and the grip shoes from the 1968 movie 2001: A Space Odyssey.

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Additional resources:
  More Ideas and Technology from The Day We Celebrate
  More Ideas and Technology by Nelson S. Bond
  Tech news articles related to The Day We Celebrate
  Tech news articles related to works by Nelson S. Bond

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