diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
index 1c3d0def7d59098987b4525d72d2979fa347e6a8..378d6de62f442a78d1a86afefeb34516a80a10ab 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
@@ -33,7 +33,7 @@
         <Joint type="revolute">
             <!--DH theta="90" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/-->
             <axis x="0" y="0" z="-1"/>
-            <Limits unit="degree" lo="-45" hi="37"/>
+            <Limits unit="degree" lo="-45" hi="29"/>
             <MaxVelocity unit="radian" value="1"/>
             <MaxAcceleration value="10"/>
             <MaxTorque value="3000"/>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
index 3f4b75084f79e4c0567a0dd2ad4d711910cb3898..34e053589c8c97c5522615bc169da0c160426f1f 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
@@ -173,7 +173,7 @@
 		</Transform>
 		<Joint type="revolute">
 			<!--DH a="0" d="0" theta="-90" alpha="90" units="degree"/-->
-                        <Limits unit="degree" lo="-31" hi="38"/>
+                        <Limits unit="degree" lo="-31" hi="37"/>
                         <MaxVelocity unit="radian" value="0.5"/>
                         <MaxAcceleration value="10"/>
                         <MaxTorque value="3000"/>