diff --git a/platforms/kbot/src/lib.rs b/platforms/kbot/src/lib.rs
index e648820..139e9d0 100644
--- a/platforms/kbot/src/lib.rs
+++ b/platforms/kbot/src/lib.rs
@@ -86,48 +86,48 @@ impl Platform for KbotPlatform {
                             11,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride03,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32), // Percentage of max
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             12,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride03,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             13,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride02,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             14,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride02,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             15,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride02,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             16,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride00,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         // Right Arm
@@ -135,48 +135,48 @@ impl Platform for KbotPlatform {
                             21,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride03,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             22,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride03,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             23,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride02,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             24,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride02,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             25,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride02,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             26,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride00,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         // Left Leg
@@ -184,40 +184,40 @@ impl Platform for KbotPlatform {
                             31,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride04,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             32,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride03,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             33,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride03,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             34,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride04,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             35,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride02,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         // Right Leg
@@ -225,40 +225,40 @@ impl Platform for KbotPlatform {
                             41,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride04,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             42,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride03,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             43,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride03,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             44,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride04,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                         (
                             45,
                             ActuatorConfiguration {
                                 actuator_type: ActuatorType::RobStride02,
-                                max_angle_change: Some(15.0f32),
-                                max_velocity: Some(10.0f32),
+                                max_angle_change: Some(60.0f32),
+                                max_velocity: Some(25.0f32),
                             },
                         ),
                     ],