diff --git a/CHANGELOG.md b/CHANGELOG.md
index 61545fa81acbf7bf5254a1ea81ace822c8dba8e8..a6b427292dd907ef9e0755b84e0fa3d0f97a2ee6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,7 @@
 Requires `libfranka` >= 0.2.0
 
   * Added missing dependency to `franka_example_controllers`
+  * Lowered rotational gains for Cartesian impedance example controller
 
 ## 0.2.0 - 2018-01-29
 
diff --git a/franka_example_controllers/cfg/compliance_param.cfg b/franka_example_controllers/cfg/compliance_param.cfg
index c5a448923cb8dd3bbd19eb5d53c8bf9166a3f567..3a891b0540eeeffa45db5b28a5fad0be67862cdc 100755
--- a/franka_example_controllers/cfg/compliance_param.cfg
+++ b/franka_example_controllers/cfg/compliance_param.cfg
@@ -6,7 +6,7 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 
 gen.add("translational_stiffness", double_t, 0, "Cartesian translational stiffness", 200, 0, 400)
-gen.add("rotational_stiffness", double_t, 0, "Cartesian rotational stiffness", 20, 0, 100)
+gen.add("rotational_stiffness", double_t, 0, "Cartesian rotational stiffness", 10, 0, 30)
 gen.add("nullspace_stiffness", double_t, 0, "Stiffness of the joint space nullspace controller (the desired configuration is the one at startup)", 0, 0, 100)
 
 exit(gen.generate(PACKAGE, "dynamic_compliance", "compliance_param"))