diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/plannerParams.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/plannerParams.ini
index 3738b18a..5fdf6a5c 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/plannerParams.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/plannerParams.ini
@@ -20,7 +20,7 @@ minWidth                0.12
 maxAngleVariation       18.0
 minAngleVariation       5.0
 #Timings
-maxStepDuration         1.1
+maxStepDuration         1.31
 minStepDuration         0.7
 
 ##Nominal Values
@@ -32,7 +32,7 @@ stepLandingVelocity     -0.15
 footApexTime            0.5
 comHeightDelta          0.01
 #Timings
-nominalDuration         0.9
+nominalDuration         1.3
 lastStepSwitchTime      0.8
 switchOverSwingRatio    0.3