diff --git a/src/segway_RMP400.cpp b/src/segway_RMP400.cpp
index ee1951ec1ac6d9010e9a391e575f1a7d3b28e9da..6bff384acd3176a67480417bcf3c8db2dd87bc4b 100644
--- a/src/segway_RMP400.cpp
+++ b/src/segway_RMP400.cpp
@@ -252,16 +252,6 @@ CSegwayRMP400::move(float vT, float vR)
 {
     need_to_be_connected();
 
-    float vRradsec = vR;
-
-    if (fabs(vT) < fabs(RMP400_b * vRradsec / 2)) {
-        // minimum translational velocity needed to enforce rotation about a ICR outside of the robot base
-        if(vT>=0.0)
-            vT =  fabs(RMP400_b * vRradsec / 2);
-        else
-            vT = -fabs(RMP400_b * vRradsec / 2);
-    }
-
     for (int i=0 ;i < segways_.size(); i++)
         segways_[i]->move(vT,vR);
 }