diff --git a/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp b/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
index 90abbd21fda1806e0652e9803f04bd9764634e17..c349c665743186d7bcd4156523cb55bd78df8aa7 100644
--- a/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
+++ b/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
@@ -490,7 +490,7 @@ void OnLineFootTrajectoryGeneration::interpolate_feet_positions(
           FinalRightFootTraj_deq[CurrentIndex+k].time = Time+k*m_SamplingPeriod;
     }
   }
-  else if (CurrentSupport.Phase == DS || Time+QP_T_ > CurrentSupport.TimeLimit)
+  else if (CurrentSupport.Phase == DS || Time+QP_T_ >= CurrentSupport.TimeLimit)
   {
     for(int k = 1; k<=(int)(QP_T_/m_SamplingPeriod);k++)
     {