diff --git a/src/meldog_description/description/joints/hip/LFH_joint.urdf.xacro b/src/meldog_description/description/joints/hip/LFH_joint.urdf.xacro
index 08b9fb7..b7429e0 100644
--- a/src/meldog_description/description/joints/hip/LFH_joint.urdf.xacro
+++ b/src/meldog_description/description/joints/hip/LFH_joint.urdf.xacro
@@ -12,7 +12,7 @@
                upper="${H_upper_limit/180.0*pi}" 
                effort="${H_effort}" 
                velocity="${H_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
\ No newline at end of file
diff --git a/src/meldog_description/description/joints/hip/LRH_joint.urdf.xacro b/src/meldog_description/description/joints/hip/LRH_joint.urdf.xacro
index 2091f5f..e043a64 100644
--- a/src/meldog_description/description/joints/hip/LRH_joint.urdf.xacro
+++ b/src/meldog_description/description/joints/hip/LRH_joint.urdf.xacro
@@ -12,7 +12,7 @@
                upper="${H_upper_limit/180.0*pi}" 
                effort="${H_effort}" 
                velocity="${H_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
\ No newline at end of file
diff --git a/src/meldog_description/description/joints/hip/RFH_joint.urdf.xacro b/src/meldog_description/description/joints/hip/RFH_joint.urdf.xacro
index 07cd894..465f061 100644
--- a/src/meldog_description/description/joints/hip/RFH_joint.urdf.xacro
+++ b/src/meldog_description/description/joints/hip/RFH_joint.urdf.xacro
@@ -12,7 +12,7 @@
                upper="${H_upper_limit/180.0*pi}" 
                effort="${H_effort}" 
                velocity="${H_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
\ No newline at end of file
diff --git a/src/meldog_description/description/joints/hip/RRH_joint.urdf.xacro b/src/meldog_description/description/joints/hip/RRH_joint.urdf.xacro
index a037205..b4869b3 100644
--- a/src/meldog_description/description/joints/hip/RRH_joint.urdf.xacro
+++ b/src/meldog_description/description/joints/hip/RRH_joint.urdf.xacro
@@ -12,7 +12,7 @@
                upper="${H_upper_limit/180.0*pi}" 
                effort="${H_effort}" 
                velocity="${H_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
\ No newline at end of file
diff --git a/src/meldog_description/description/joints/knee/LFK_joint.urdf.xacro b/src/meldog_description/description/joints/knee/LFK_joint.urdf.xacro
index 3d37c70..3aceb57 100644
--- a/src/meldog_description/description/joints/knee/LFK_joint.urdf.xacro
+++ b/src/meldog_description/description/joints/knee/LFK_joint.urdf.xacro
@@ -9,7 +9,7 @@
             upper="${K_upper_limit/180.0*pi}" 
             effort="${K_effort}" 
             velocity="${K_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
\ No newline at end of file
diff --git a/src/meldog_description/description/joints/knee/LRK_joint.urdf.xacro b/src/meldog_description/description/joints/knee/LRK_joint.urdf.xacro
index 3455352..6f83595 100644
--- a/src/meldog_description/description/joints/knee/LRK_joint.urdf.xacro
+++ b/src/meldog_description/description/joints/knee/LRK_joint.urdf.xacro
@@ -9,7 +9,7 @@
                upper="${K_upper_limit/180.0*pi}" 
                effort="${K_effort}" 
                velocity="${K_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
\ No newline at end of file
diff --git a/src/meldog_description/description/joints/knee/RFK_joint.urdf.xacro b/src/meldog_description/description/joints/knee/RFK_joint.urdf.xacro
index 9e0df4f..21269ed 100644
--- a/src/meldog_description/description/joints/knee/RFK_joint.urdf.xacro
+++ b/src/meldog_description/description/joints/knee/RFK_joint.urdf.xacro
@@ -9,7 +9,7 @@
                upper="${K_upper_limit/180.0*pi}" 
                effort="${K_effort}" 
                velocity="${K_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
\ No newline at end of file
diff --git a/src/meldog_description/description/joints/knee/RRK_joint.urdf.xacro b/src/meldog_description/description/joints/knee/RRK_joint.urdf.xacro
index b71c334..a129f2c 100644
--- a/src/meldog_description/description/joints/knee/RRK_joint.urdf.xacro
+++ b/src/meldog_description/description/joints/knee/RRK_joint.urdf.xacro
@@ -9,7 +9,7 @@
                upper="${K_upper_limit/180.0*pi}" 
                effort="${K_effort}" 
                velocity="${K_velocity}" />
-        <axis xyz="0 1 0" />
+        <axis xyz="0 -1 0" />
     </joint>
 
 </robot>
\ No newline at end of file