diff --git a/action_client/src/action_client_alg_node.cpp b/action_client/src/action_client_alg_node.cpp
index 66e82e8a8e1b8d202238762418d8d534a33b6cc6..559449df2184fbda9f65a6b6a35ebc1047695f1d 100644
--- a/action_client/src/action_client_alg_node.cpp
+++ b/action_client/src/action_client_alg_node.cpp
@@ -19,8 +19,6 @@ ActionClientAlgNode::ActionClientAlgNode(void) :
   // [init action servers]
   
   // [init action clients]
-
-  this->action.add_whole_body();
 }
 
 ActionClientAlgNode::~ActionClientAlgNode(void)
diff --git a/humanoid_modules/include/humanoid_modules/humanoid_module.h b/humanoid_modules/include/humanoid_modules/humanoid_module.h
index b9345d4b466bf1b96b7b62d7ad919994a9dbcda9..ce1cd305357e19c9ce18eb48be9f104a08d0cf3b 100644
--- a/humanoid_modules/include/humanoid_modules/humanoid_module.h
+++ b/humanoid_modules/include/humanoid_modules/humanoid_module.h
@@ -104,7 +104,7 @@ void CHumanoidModule<Module>::add_servo(const std::string &name)
     {
       for(j=0;j<this->assigned_servos.size();j++)
       {
-        if(this->assigned_servos[i]==name)
+        if(this->assigned_servos[j]==name)
           return;// servo already assigned to this module
       }
       this->assigned_servos.push_back(name);
diff --git a/walk_client/src/walk_client_alg_node.cpp b/walk_client/src/walk_client_alg_node.cpp
index 0abb5853bb6deebcb8428b651070a7304b5612f4..59bed31095396909053e32f1e6f28ed4edb9e26a 100644
--- a/walk_client/src/walk_client_alg_node.cpp
+++ b/walk_client/src/walk_client_alg_node.cpp
@@ -20,7 +20,6 @@ WalkClientAlgNode::WalkClientAlgNode(void) :
   // [init action servers]
   
   // [init action clients]
-  this->walk.add_whole_body();
 }
 
 WalkClientAlgNode::~WalkClientAlgNode(void)