diff --git a/src/darwin_robot.cpp b/src/darwin_robot.cpp
index 2054b9c2669b67fcae313aed29a58b80de12a8b3..5079fd8a4a92e0b6448875a1273cc9b676cae0dc 100644
--- a/src/darwin_robot.cpp
+++ b/src/darwin_robot.cpp
@@ -34,10 +34,10 @@ const std::string servo_names[MAX_NUM_SERVOS]={std::string("Servo0"),
                                                std::string("j_ankle_roll_l"),
                                                std::string("j_pan"),
                                                std::string("j_tilt"),
-                                               std::string("Servo21"),
-                                               std::string("Servo22"),
-                                               std::string("Servo23"),
-                                               std::string("Servo24"),
+                                               std::string("j_gripper_top_l"),
+                                               std::string("j_gripper_bot_l"),
+                                               std::string("j_gripper_top_r"),
+                                               std::string("j_gripper_bot_r"),
                                                std::string("Servo25"),
                                                std::string("Servo26"),
                                                std::string("Servo27"),