diff --git a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/common/plannerParams.ini b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/common/plannerParams.ini
index 361c3552..90157522 100644
--- a/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/common/plannerParams.ini
+++ b/src/WalkingModule/app/robots/ergoCubSN001/dcm_walking/common/plannerParams.ini
@@ -10,7 +10,7 @@ referencePosition       (0.1 0.0)
 timeWeight              2.5
 positionWeight          1.0
 slowWhenTurningGain     2.0
-slowWhenBackwardFactor  0.8
+slowWhenBackwardFactor  0.4
 slowWhenSidewaysFactor  0.2
 
 # Conservative factors that multiply the unicycle velocity saturations
@@ -39,7 +39,7 @@ minStepDuration         0.65
 nominalWidth            0.20
 #Height
 stepHeight              0.05
-stepLandingVelocity     -0.01
+stepLandingVelocity     -0.1
 footApexTime            0.5
 comHeightDelta          0.01
 #Timings