diff --git a/lite_description/actuators/robstride.py b/lite_description/actuators/robstride.py
index aff41a4..3b61960 100644
--- a/lite_description/actuators/robstride.py
+++ b/lite_description/actuators/robstride.py
@@ -1,7 +1,7 @@
 
 # https://robstride.com/products/robStride00
 ROBSTRIDE_00_ACTUATOR_PARAMS = {
-    "velocity_limit"    : 32.987,   # rad/s
+    "velocity_limit"    : 32.99,    # rad/s, 315 rpm no-load
     "effort_limit"      : 14.0,     # Nm
     "armature"          : 0.002,    # kgm^2
     "friction_loss"     : 0.1,      # Nm
@@ -11,7 +11,7 @@
 
 # https://robstride.com/products/robStride01
 ROBSTRIDE_01_ACTUATOR_PARAMS = {
-    "velocity_limit"    : 50.13,    # rad/s
+    "velocity_limit"    : 32.99,    # rad/s, 315 rpm no-load
     "effort_limit"      : 17.0,     # Nm
     "armature"          : 0.005,    # kgm^2
     "friction_loss"     : 0.1,      # Nm
@@ -21,7 +21,7 @@
 
 # https://robstride.com/products/robStride02
 ROBSTRIDE_02_ACTUATOR_PARAMS = {
-    "velocity_limit"    : 65.25,    # rad/s
+    "velocity_limit"    : 42.94,    # rad/s, 410 rpm no-load
     "effort_limit"      : 17.0,     # Nm
     "armature"          : 0.005,    # kgm^2
     "friction_loss"     : 0.1,      # Nm
@@ -31,7 +31,7 @@
 
 # https://robstride.com/products/robStride03
 ROBSTRIDE_03_ACTUATOR_PARAMS = {
-    "velocity_limit"    : 31.83,    # rad/s
+    "velocity_limit"    : 20.94,    # rad/s, 200 rpm no-load
     "effort_limit"      : 60.0,     # Nm
     "armature"          : 0.01,     # kgm^2
     "friction_loss"     : 0.1,      # Nm
@@ -41,7 +41,7 @@
 
 # https://robstride.com/products/robStride04
 ROBSTRIDE_04_ACTUATOR_PARAMS = {
-    "velocity_limit"    : 31.83,    # rad/s
+    "velocity_limit"    : 20.94,    # rad/s, 200 rpm no-load
     "effort_limit"      : 120.0,    # Nm
     "armature"          : 0.016,    # kgm^2
     "friction_loss"     : 0.1,      # Nm
@@ -51,7 +51,7 @@
 
 # https://robstride.com/products/robStride05
 ROBSTRIDE_05_ACTUATOR_PARAMS = {
-    "velocity_limit"    : 76.39,    # rad/s
+    "velocity_limit"    : 50.27,    # rad/s, 480 rpm no-load
     "effort_limit"      : 5.5,      # Nm
     "armature"          : 0.001,    # kgm^2
     "friction_loss"     : 0.1,      # Nm
@@ -61,7 +61,7 @@
 
 # https://robstride.com/products/robStride06
 ROBSTRIDE_06_ACTUATOR_PARAMS = {
-    "velocity_limit"    : 76.39,    # rad/s
+    "velocity_limit"    : 50.27,    # rad/s, 480 rpm no-load
     "effort_limit"      : 36.0,     # Nm
     "armature"          : 0.008,    # kgm^2
     "friction_loss"     : 0.1,      # Nm