diff --git a/talos_controller_configuration/config/walking_params.yaml b/talos_controller_configuration/config/walking_params.yaml
index eabca206387eebce061c8c2520f9b8eb7cb3b9d1..1c98e1a29c4cbca6a4fb5a02344d6d1a9d82fc22 100644
--- a/talos_controller_configuration/config/walking_params.yaml
+++ b/talos_controller_configuration/config/walking_params.yaml
@@ -16,7 +16,7 @@ biped_controller:
    variable_joint_offset_hip: -0.7
    variable_joint_offset_ankle: -0.7
    swing_foot_z: 0.03
-   z_lipm: 0.95
+   z_lipm: 1.05
 
 com_stabilizer:
    ds_x_p: 0.7