diff --git a/bioloid_control/config/dexter.yaml b/bioloid_control/config/dexter.yaml
index d9cc86a4e5cde8f219c4d496fd92e039668a2d38..98f4eef0e83e2e04fb212bdc4030828aba503600 100644
--- a/bioloid_control/config/dexter.yaml
+++ b/bioloid_control/config/dexter.yaml
@@ -7,9 +7,9 @@ bioloid:
   bioloid_cm510_cont:
     type: effort_controllers/BioloidControllerCM510
     exp_adc8_frame: IR1_link
-    exp_adc7_frame: IR2_link
+    exp_adc5_frame: IR2_link
     exp_adc6_frame: LAT_IR_left_link
-    exp_adc5_frame: LAT_IR_right_link
+    exp_adc7_frame: LAT_IR_right_link
     exp_adc4_frame: IRLONG_link
     
     
diff --git a/bioloid_control/config/dexter_pan_tilt.yaml b/bioloid_control/config/dexter_pan_tilt.yaml
index 8020adfdca375d01f0dcd19a06948dd61103b462..48f8c50671f96d8357af732a6fcfed55d0da8113 100644
--- a/bioloid_control/config/dexter_pan_tilt.yaml
+++ b/bioloid_control/config/dexter_pan_tilt.yaml
@@ -7,9 +7,9 @@ bioloid:
   bioloid_cm510_cont:
     type: effort_controllers/BioloidControllerCM510
     exp_adc8_frame: IR1_link
-    exp_adc7_frame: IR2_link
+    exp_adc5_frame: IR2_link
     exp_adc6_frame: LAT_IR_left_link
-    exp_adc5_frame: LAT_IR_right_link
+    exp_adc7_frame: LAT_IR_right_link
     exp_adc4_frame: IRLONG_link
     
     adc3_frame: gyro_y