diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
index b21010a3900f02a7d8bf5944d60e3f847e6d325b..43a789173d40fd66ca954c2f07b84c30cec123d6 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
@@ -473,6 +473,8 @@
     </RobotNodeSet>
 
 
+
+
     <RobotNodeSet name="IKVirtualGaze" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
         <Node name="Neck_1_Pitch"/>
         <Node name="Neck_2_Roll"/>
@@ -482,6 +484,14 @@
     </RobotNodeSet>
 
 
+    <RobotNodeSet name="IKVirtualGaze_NoRoll" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
+        <Node name="Neck_1_Pitch"/>
+        <Node name="Neck_3_Yaw"/>
+        <Node name="Cameras"/>
+        <Node name="VirtualCentralGaze"/>
+    </RobotNodeSet>
+
+
     <RobotNodeSet name="IKVirtualGazeKinect" kinematicRoot="Neck_1_Pitch" tcp="Kinect">
         <Node name="Neck_1_Pitch"/>
         <Node name="Neck_2_Roll"/>