diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/pidParams.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/pidParams.ini
index b9aa6bb0..fe6023c1 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/pidParams.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/pidParams.ini
@@ -15,8 +15,8 @@ useGainScheduling           0
 [DEFAULT]
 #NAME                P     I      D
 #torso_pitch         5.0   1.0    0.5
-l_knee             -25000.0  -1000.0   0.0
-r_knee              25000.0   1000.0   0.0
+l_knee             -30000.0  -1000.0   0.0
+r_knee              30000.0   1000.0   0.0
 l_ankle_pitch      -15000.0  -1000.0   0.0
 r_ankle_pitch       15000.0   1000.0   0.0
 l_ankle_roll        -8000.0  -1000.0   0.0