diff --git a/include/darwin_registers.h b/include/darwin_registers.h
index 3e618f76e5685660d7618a846cad715262da4507..ea257d4e52ee34d18513120a7d80b84c764f60bf 100644
--- a/include/darwin_registers.h
+++ b/include/darwin_registers.h
@@ -25,13 +25,66 @@
   #define MMANAGER_ODD_SER_MOD        0x07
 #define MMANAGER_CURRENT_ANGLE        158
 
-#define ACTION_CONTROL                222
+#define ACTION_CONTROL                224
   #define ACTION_START                0x01
   #define ACTION_STOP                 0x02
   #define ACTION_STATUS               0x80
-#define ACTION_PAGE_ID                223
+#define ACTION_PAGE_ID                225
 
-#define IMU_CONTROL_OFFSET            224//   bit 7   |   bit 6  |    bit 5    |  bit 4  | bit 3 |    bit 2   | bit 1 | bit 0
+#define BALANCE_CONTROL_OFFSET        226//   bit 7  |   bit 6  |   bit 5  | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+                                         // standing | bwd fall | fwd fall |       |       |       |       | enable
+  #define BALANCE_ENABLE              0x01
+  #define BALANCE_STANDING            0x80
+  #define BALANCE_BWD_FALL            0x40
+  #define BALANCE_FWD_FALL            0x20
+
+#define JOINT_MOTION_GROUP_CONTROL    227//   bit 7 | bit 6 | bit 5 | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
+                                         // running |       |       |       |       |       | stop  | start
+  #define JOINT_MOTION_START          0x01
+  #define JOINT_MOTION_STOP           0x02
+  #define JOINT_MOTION_RUNNING        0x80
+
+#define JOINT_MOTION_GROUP_SERVOS     231 
+#define JOINT_MOTION_GROUP_ANGLES     247
+#define JOINT_MOTION_GROUP_SPEEDS     311
+#define JOINT_MOTION_GROUP_ACCELS     343
+
+#define HEAD_TRACKING_CONTROL         375// bit 7 | bit 6 | bit 5 |  bit 4   | bit 3 | bit 2 |     bit 1     |      bit 0
+                                         //       |       |       | tracking |       |       | stop tracking | start tracking
+  #define HEAD_TRACKING_START         0x01
+  #define HEAD_TRACKING_STOP          0x02
+  #define HEAD_TRACKING_RUNNING       0x10
+
+#define HEAD_TRACKING_MAX_PAN         376
+#define HEAD_TRACKING_MIN_PAN         378
+#define HEAD_TRACKING_TARGET_PAN      380
+#define HEAD_TRACKING_MAX_TILT        382
+#define HEAD_TRACKING_MIN_TILT        384
+#define HEAD_TRACKING_TARGET_TILT     386
+
+#define HEAD_TRACKING_PAN_P_GAIN      50
+#define HEAD_TRACKING_PAN_I_GAIN      52
+#define HEAD_TRACKING_PAN_D_GAIN      54
+#define HEAD_TRACKING_PAN_I_CLAMP     56
+#define HEAD_TRACKING_TILT_P_GAIN     58
+#define HEAD_TRACKING_TILT_I_GAIN     60
+#define HEAD_TRACKING_TILT_D_GAIN     62
+#define HEAD_TRACKING_TILT_I_CLAMP    64
+#define HEAD_TRACKING_PAN_SERVO_ID    66
+#define HEAD_TRACKING_TILT_SERVO_ID   68
+
+#define WALK_CONTROL                  388// bit 7 | bit 6 | bit 5 |  bit 4  | bit 3 | bit 2 |     bit 1    |    bit 0
+                                         // current phase           walking                   stop walking   start walking
+  #define WALK_START                  0x01
+  #define WALK_STOP                   0x02
+  #define WALK_RUNNING                0x10
+  #define WALK_CURRENT_PHASE          0xC0
+
+#define WALK_STEP_FW_BW               389
+#define WALK_STEP_LEFT_RIGHT          390
+#define WALK_STEP_DIRECTION           301
+
+#define IMU_CONTROL_OFFSET            392//   bit 7   |   bit 6  |    bit 5    |  bit 4  | bit 3 |    bit 2   | bit 1 | bit 0
                                          // accel_det | gyro_det | calibrating | running |       | start_cal  | stop  | start
   #define IMU_START                   0x01
   #define IMU_STOP                    0x02
@@ -40,24 +93,18 @@
   #define IMU_CALIBRATING             0x20
   #define IMU_ACCEL_DET               0x40
   #define IMU_GYRO_DET                0x80
-#define IMU_CAL_SAMPLES_OFFSET        225 
-#define IMU_GYRO_X_OFFSET             227
-#define IMU_GYRO_Y_OFFSET             229
-#define IMU_GYRO_Z_OFFSET             231
-#define IMU_ACCEL_X_OFFSET            233
-#define IMU_ACCEL_Y_OFFSET            235
-#define IMU_ACCEL_Z_OFFSET            237
+#define IMU_CAL_SAMPLES_OFFSET        393 
+#define IMU_GYRO_X_OFFSET             395
+#define IMU_GYRO_Y_OFFSET             397
+#define IMU_GYRO_Z_OFFSET             399
+#define IMU_ACCEL_X_OFFSET            401
+#define IMU_ACCEL_Y_OFFSET            403
+#define IMU_ACCEL_Z_OFFSET            405
 
 #define BALANCE_KNEE_GAIN_OFFSET        7 
 #define BALANCE_ANKLE_ROLL_GAIN_OFFSET  9
 #define BALANCE_ANKLE_PITCH_GAIN_OFFSET 11
 #define BALANCE_HIP_ROLL_GAIN_OFFSET    13
 
-#define BALANCE_CONTROL_OFFSET        239//   bit 7  |   bit 6  |   bit 5  | bit 4 | bit 3 | bit 2 | bit 1 | bit 0
-                                         // standing | bwd fall | fwd fall |       |       |       |       | enable
-  #define BALANCE_ENABLE              0x01
-  #define BALANCE_STANDING            0x80
-  #define BALANCE_BWD_FALL            0x40
-  #define BALANCE_FWD_FALL            0x20
 
 #endif