diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/freeSpaceEllipseParams.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/freeSpaceEllipseParams.ini
index 146b1dbf..b462af8e 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/freeSpaceEllipseParams.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/freeSpaceEllipseParams.ini
@@ -11,7 +11,7 @@ inner_ellipse_offset   0.5
 [ELLIPSE_MANAGER_SETTINGS]
 port_name              freeSpaceEllipse:in
 
-use_initial_ellipse    0
+use_initial_ellipse    1
 
 [INITIAL_ELLIPSE]
 
@@ -19,7 +19,7 @@ use_initial_ellipse    0
 semi_major_axis        1.5
 
 #Axis along the y direction
-semi_minor_axis        1.0
+semi_minor_axis        1.5
 
 #Rotation around the z axis
 angle                  0.0
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 d625985e..64cb2270 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/plannerParams.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/common/plannerParams.ini
@@ -7,7 +7,7 @@ referencePosition       (0.1 0.0)
 timeWeight              2.5
 positionWeight          1.0
 slowWhenTurningGain     4.0
-slowWhenBackwardFactor  0.5
+slowWhenBackwardFactor  0.7
 
 ##Bounds
 #Step length
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/inverseKinematics.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/inverseKinematics.ini
index 6e7f10b4..65a96c16 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/inverseKinematics.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/inverseKinematics.ini
@@ -19,8 +19,8 @@ max-cpu-time            20
 #DEGREES
 jointRegularization     (0.0, 0.0, 0.0,
                          0.0, 0.0, 0.0,
-                         -3.7, 25.0, -13.0, 40.769, 0, 0, 0,
-                         -3.7, 25.0, -13.0, 40.769, 0, 0, 0,
+                         12.0, 7.0, -12.0, 41.0, -28.3, 0, 0,
+                         12.0, 7.0, -12.0, 41.0, -28.3, 0, 0,
                          5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
                          5.76, 1.61, -0.31, -31.64, -20.52, -1.52)
 
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/qpInverseKinematics.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/qpInverseKinematics.ini
index 324c4ebc..65beaf8b 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/qpInverseKinematics.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/qpInverseKinematics.ini
@@ -9,8 +9,8 @@ additional_rotation             ((1.0 0.0 0.0),(0.0 1.0 0.0),(0.0 0.0 1.0))
 # joint regularization values in degrees
 joint_regularization            (0.0, 0.0, 0.0,
                                  0.0, 0.0, 0.0,
-                                -3.7, 25.0, -13.0, 40.769, 0, 0, 0,
-                                -3.7, 25.0, -13.0, 40.769, 0, 0, 0,
+				 12.0, 7.0, -12.0, 41.0, -28.3, 0, 0,
+                                 12.0, 7.0, -12.0, 41.0, -28.3, 0, 0,
                                  5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
                                  5.76, 1.61, -0.31, -31.64, -20.52, -1.52)
 
@@ -30,8 +30,8 @@ joint_regularization_weight_stance  (0.0, 0.0, 0.0,
 
 joint_regularization_weight_walking (0.0, 0.0, 0.0,
                                      1.0, 1.0, 1.0,
-                                     0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
-                                     0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+				     2.0, 2.0, 2.0, 2.0, 2.0, 5.0, 5.0,
+                                     2.0, 2.0, 2.0, 2.0, 2.0, 5.0, 5.0,
                                      1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
                                      1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
 
@@ -45,8 +45,8 @@ joint_retargeting_gains         (5.0, 5.0, 5.0,
 
 joint_retargeting_weight_walking (2.0, 2.0, 2.0,
                                   1.0, 1.0, 1.0,
-                                  2.0, 2.0, 2.0, 2.0, 2.0, 5.0, 5.0,
-                                  2.0, 2.0, 2.0, 2.0, 2.0, 5.0, 5.0,
+                                  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
+                                  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
                                   1.0, 1.0, 1.0, 1.0, 1.0, 1.0,
                                   1.0, 1.0, 1.0, 1.0, 1.0, 1.0)
 
@@ -69,7 +69,7 @@ k_posHand                       2.5
 k_attHand                       1.0
 
 # use gain scheduling for hand retargeting
-smoothing_time                  0.5
+smoothing_time                  4.5
 
 # joint limits
 k_joint_limit_lower_bound       1.0
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/inverseKinematics.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/inverseKinematics.ini
index 66019765..8ec7efc5 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/inverseKinematics.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/inverseKinematics.ini
@@ -25,12 +25,19 @@ max-cpu-time            20
 
 
 #DEGREES
+# jointRegularization     (7, 0.12, -0.01,
+#                          -3.7, 20.0, -13.0, 40.769,
+#                          -3.7, 20.0, -13.0, 40.769,
+#                          5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
+#                          5.76, 1.61, -0.31, -31.64, -20.52, -1.52)
+
 jointRegularization     (7, 0.12, -0.01,
-                         -3.7, 20.0, -13.0, 40.769,
-                         -3.7, 20.0, -13.0, 40.769,
+                         12.0, 7.0, -12.0, 40.769,
+                         12.0, 7.0, -12.0, 40.769,
                          5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
                          5.76, 1.61, -0.31, -31.64, -20.52, -1.52)
 
+
 # jointRegularization     (7, 0.12, -0.01,
 #                          -70.0, 46.70, 25.0, 40.769,
 #                          -70.0, 46.70, 25.0, 40.769,
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/qpInverseKinematics.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/qpInverseKinematics.ini
index 6c8d0843..6b2a50e6 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/qpInverseKinematics.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/qpInverseKinematics.ini
@@ -7,12 +7,19 @@ neck_weight                     5.0
 additional_rotation             ((1.0 0.0 0.0),(0.0 1.0 0.0),(0.0 0.0 1.0))
 
 # Joint regularization term
+# joint_regularization     (7, 0.12, -0.01,
+#                          -3.7, 20.0, -13.0, 40.769,
+#                          -3.7, 20.0, -13.0, 40.769,
+#                          5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
+#                          5.76, 1.61, -0.31, -31.64, -20.52, -1.52)
+
 joint_regularization     (7, 0.12, -0.01,
-                         -3.7, 20.0, -13.0, 40.769,
-                         -3.7, 20.0, -13.0, 40.769,
+                         12.0, 7.0, -12.0, 40.769,
+                         12.0, 7.0, -12.0, 40.769,
                          5.76, 1.61, -0.31, -31.64, -20.52, -1.52,
                          5.76, 1.61, -0.31, -31.64, -20.52, -1.52)
 
+
 # joint_regularization     (7, 0.12, -0.01,
 #                          -70.0, 46.70, 25.0, 40.769,
 #                          -70.0, 46.70, 25.0, 40.769,