diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini
index d6fffcaca..6512f6586 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/regularization.ini
@@ -7,8 +7,8 @@ kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0, 5.0, 5.0)
 
 states          ("STANCE", "WALKING")
-sampling_time   0.01
-settling_time   4.5
+sampling_time   0.002
+settling_time   3.0
 
 [STANCE]
 name    "stance"
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini
index 903728e5b..1c4bd7167 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/retargeting.ini
@@ -7,8 +7,8 @@ kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0, 5.0, 5.0)
 
 states          ("STANCE", "WALKING")
-sampling_time   0.01
-settling_time   4.5
+sampling_time   0.002
+settling_time   3.0
 
 [STANCE]
 name    "stance"
@@ -22,7 +22,7 @@ weight  (2.0, 2.0, 2.0,
 [WALKING]
 name    "walking"
 weight  (2.0, 2.0, 2.0,
-         1.0, 1.0, 1.0,
+         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,
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini
index e69638dd4..01d7def3d 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/iFeel_joint_retargeting/tasks/torso.ini
@@ -4,8 +4,8 @@ kp_angular                      5.0
 
 
 states          ("STANCE", "WALKING")
-sampling_time   0.01
-settling_time   4.5
+sampling_time   0.002
+settling_time   3.0
 
 [STANCE]
 name    "stance"
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/regularization.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/regularization.ini
index 87c2081f9..4b75c8316 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/regularization.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/regularization.ini
@@ -6,7 +6,7 @@ kp                              (5.0, 5.0, 5.0,
                                  5.0, 5.0, 5.0, 5.0, 5.0, 5.0)
 
 states          ("stance", "walking")
-sampling_time   0.01
+sampling_time   0.002
 settling_time   0.5
 
 [stance]
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/torso.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/torso.ini
index 8258c0af5..89f8654e2 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/torso.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking/joypad_control/tasks/torso.ini
@@ -4,7 +4,7 @@ kp_angular                      5.0
 
 
 states          ("stance", "walking")
-sampling_time   0.01
+sampling_time   0.002
 settling_time   0.5
 
 [stance]
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini
index 8eedaea43..2ead6b990 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_iFeel_joint_retargeting.ini
@@ -20,7 +20,7 @@ max_initial_com_vel                 0.15
 constant_ZMP_tolerance              0.000001
 
 # Consecutive times in which the ZMP remains constant. If this limit is reached, the module stops. Use a negative value to disable.
-constant_ZMP_counter                25
+constant_ZMP_counter                125
 
 # Minimum force to consider the ZMP valid.
 minimum_normal_force_ZMP            1.0
@@ -39,7 +39,7 @@ goal_port_suffix                    /goal:i
 goal_port_scaling                   (0.5, 1.0, 0.5)
 
 # How much in advance the planner should be called. The time is in seconds
-planner_advance_time_in_s           0.08
+planner_advance_time_in_s           0.02
 
 # general parameters
 [GENERAL]
@@ -47,7 +47,7 @@ name                    walking-coordinator
 # height of the com
 com_height              0.565
 # sampling time
-sampling_time           0.01
+sampling_time           0.002
 # enable joint retargeting
 use_joint_retargeting    1
 # enable the virtualizer
diff --git a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini
index e13120db0..e627a1790 100644
--- a/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini
+++ b/src/WalkingModule/app/robots/iCubGenova09/dcm_walking_with_joypad.ini
@@ -20,7 +20,7 @@ max_initial_com_vel                 0.15
 constant_ZMP_tolerance              0.00001
 
 # Consecutive times in which the ZMP remains constant. If this limit is reached, the module stops. Use a negative value to disable.
-constant_ZMP_counter                25
+constant_ZMP_counter                125
 
 # Minimum force to consider the ZMP valid.
 minimum_normal_force_ZMP            1.0
@@ -39,7 +39,7 @@ goal_port_suffix                    /goal:i
 goal_port_scaling                   (0.5, 1.0, 0.5)
 
 # How much in advance the planner should be called. The time is in seconds
-planner_advance_time_in_s           0.08
+planner_advance_time_in_s           0.02
 
 # general parameters
 [GENERAL]
@@ -47,10 +47,11 @@ name                    walking-coordinator
 # height of the com
 com_height              0.565
 # sampling time
-sampling_time           0.01
+sampling_time           0.002
 # Specify the frame to use to control the robot height. Currently, we support only the following options: com, root_link
 height_reference_frame  root_link
 
+
 # include robot control parameters
 [include ROBOT_CONTROL "./dcm_walking/joypad_control/robotControl.ini"]
 
diff --git a/src/WalkingModule/src/Module.cpp b/src/WalkingModule/src/Module.cpp
index 085cbade4..ead2de7f5 100644
--- a/src/WalkingModule/src/Module.cpp
+++ b/src/WalkingModule/src/Module.cpp
@@ -396,7 +396,7 @@ bool WalkingModule::configure(yarp::os::ResourceFinder& rf)
     {
         yarp::os::Bottle& loggerOptions = rf.findGroup("WALKING_LOGGER");
         // open and connect the data logger port
-        std::string portInput, portOutput;
+        std::string portOutput;
         // open the connect the data logger port
         if(!YarpUtilities::getStringFromSearchable(loggerOptions,
                                                    "dataLoggerOutputPort_name",
@@ -405,21 +405,8 @@ bool WalkingModule::configure(yarp::os::ResourceFinder& rf)
             yError() << "[WalkingModule::configure] Unable to get the string from searchable.";
             return false;
         }
-        if(!YarpUtilities::getStringFromSearchable(loggerOptions,
-                                                   "dataLoggerInputPort_name",
-                                                   portInput))
-        {
-            yError() << "[WalkingModule::configure] Unable to get the string from searchable.";
-            return false;
-        }
 
         m_loggerPort.open("/" + name + portOutput);
-
-        if(!yarp::os::Network::connect("/" + name + portOutput,  portInput))
-        {
-            yError() << "Unable to connect the ports " << "/" + name + portOutput << "and" << portInput;
-            return false;
-        }
     }
 
     // time profiler