diff --git a/darwin_controller/include/darwin_controller_impl.h b/darwin_controller/include/darwin_controller_impl.h
index 71e161ebb30e0c9dda2566dce54082db6533b06a..dc3b67bdea7e0b99fc846cdd80a12e55aed7f11d 100644
--- a/darwin_controller/include/darwin_controller_impl.h
+++ b/darwin_controller/include/darwin_controller_impl.h
@@ -325,7 +325,7 @@ namespace darwin_controller
       /* go to the walk ready position */
       for(unsigned int i=0;i<20;++i)
       {
-        manager_set_module(i+1,MM_ACTION);
+        manager_set_module(i+1,MM_WALKING);
         manager_enable_servo(i+1);
       }
       for(unsigned int i=20;i<n_joints;++i)