diff --git a/android/modules/goatoh.mod.hsp b/android/modules/goatoh.mod.hsp
index 116b4c0..1e4530b 100644
--- a/android/modules/goatoh.mod.hsp
+++ b/android/modules/goatoh.mod.hsp
@@ -77,10 +77,17 @@ Walk \
 
 	Repeat 4
 		If legDirections.cnt.p_insId = LEG_DIRECTION_FRONT {
-			legArgs.cnt.p_insId -= Deg2Rad (1)
+			legArgs.cnt.p_insId += Deg2Rad (1)
 		}
 		Else {
-			legArgs.cnt.p_insId += Deg2Rad (1)
+			legArgs.cnt.p_insId -= Deg2Rad (1)
+		}
+
+		If legArgs.cnt.p_insId > Deg2Rad (15) {
+			legDirections.cnt.p_insId = LEG_DIRECTION_HIND
+		}
+		Else: If legArgs.cnt.p_insId < Deg2Rad (-15) {
+			legDirections.cnt.p_insId = LEG_DIRECTION_FRONT
 		}
 	Loop