diff --git a/src/WalkingModule/app/robots/ergoCubSN000/dcm_walking/common/plannerParams.ini b/src/WalkingModule/app/robots/ergoCubSN000/dcm_walking/common/plannerParams.ini
index 76a66731..9c1d3b60 100644
--- a/src/WalkingModule/app/robots/ergoCubSN000/dcm_walking/common/plannerParams.ini
+++ b/src/WalkingModule/app/robots/ergoCubSN000/dcm_walking/common/plannerParams.ini
@@ -21,7 +21,7 @@ saturationFactors       (0.7, 0.7)
 
 ##Bounds
 #Step length
-maxStepLength           0.35
+maxStepLength           0.32
 minStepLength           0.01
 maxLengthBackwardFactor 0.8
 #Width
@@ -32,7 +32,7 @@ maxAngleVariation       18.0
 minAngleVariation       5.0
 #Timings
 maxStepDuration         1.5
-minStepDuration         0.7
+minStepDuration         0.5
 
 ##Nominal Values
 #Width
@@ -44,8 +44,8 @@ footApexTime            0.5
 comHeightDelta          0.01
 #Timings
 nominalDuration         1.3
-lastStepSwitchTime      0.8
-switchOverSwingRatio    0.3
+lastStepSwitchTime      0.5
+switchOverSwingRatio    0.2
 
 #ZMP Delta
 leftZMPDelta           (0.0 0.0)