diff --git a/include/quadruped-reactive-walking/InvKin.hpp b/include/quadruped-reactive-walking/InvKin.hpp
index 2c50b7c4ae9e2f7bfff06b99dac6827c335a5d15..90e694cf7defcf522edfbc189a666af8cf9f4ecb 100644
--- a/include/quadruped-reactive-walking/InvKin.hpp
+++ b/include/quadruped-reactive-walking/InvKin.hpp
@@ -149,8 +149,8 @@ class InvKin {
   double Kp_base_position = 100.0;
   double Kd_base_position = 2.0 * std::sqrt(Kp_base_position);
 
-  double Kp_flyingfeet = 100.0;
-  double Kd_flyingfeet = 2.0 * std::sqrt(Kp_flyingfeet);
+  double Kp_flyingfeet = 1000.0;
+  double Kd_flyingfeet = 5.0 * std::sqrt(Kp_flyingfeet);
 
  public:
   InvKin();