diff --git a/data/RobotAPI/robots/Armar3/ArmarIII.xml b/data/RobotAPI/robots/Armar3/ArmarIII.xml
index 041a490471e1605a95d739bb98fb90c94b11fea1..32a21df52906290dfae10c0bbbb98c8da5335959 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII.xml
@@ -123,7 +123,7 @@
 	<RobotNode name="Hip Yaw">
 		<Joint type="revolute">
 			<Axis x="0" y="0" z="1"/>
-			<Limits unit="degree" lo="-90" hi="90"/>
+                        <Limits unit="degree" lo="-130" hi="130"/>
                     <MaxVelocity unit="radian" value="1"/>
                     <MaxAcceleration value="10"/>
                     <MaxTorque value="3000"/>