diff --git a/pyproject.toml b/pyproject.toml
index a66a0efa..48853f59 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -24,7 +24,7 @@ dependencies = [
     "huggingface-hub==0.34.4",
     "sounddevice==0.5.1",
     "soundfile==0.13.1",    
-    "reachy-mini-rust-kinematics>=1.0.1",
+    "reachy-mini-rust-kinematics>=1.0.2",
     "asgiref",
     "aiohttp",
 ]
diff --git a/src/reachy_mini/kinematics/analytical_kinematics.py b/src/reachy_mini/kinematics/analytical_kinematics.py
index 0691b7d8..43c4fcde 100644
--- a/src/reachy_mini/kinematics/analytical_kinematics.py
+++ b/src/reachy_mini/kinematics/analytical_kinematics.py
@@ -67,10 +67,17 @@ def ik(
         """
         _pose = pose.copy()
         _pose[:3, 3][2] += self.head_z_offset
-
-        stewart_joints = self.kin.inverse_kinematics(_pose, body_yaw)  # type: ignore[arg-type]
-
-        return np.array([body_yaw] + stewart_joints)
+           
+        # inverse kinematics solution that modulates the body yaw to 
+        # stay within the mechanical limits (max_body_yaw) 
+        # additionally it makes sure the the relative yaw between the body and the head
+        # stays within the mechanical limits (max_relative_yaw)
+        reachy_joints = self.kin.inverse_kinematics_safe(_pose,  # type: ignore[arg-type]
+                                                         body_yaw = body_yaw, 
+                                                         max_relative_yaw = np.deg2rad(65), 
+                                                         max_body_yaw = np.deg2rad(160))  
+        
+        return np.array(reachy_joints)  
 
     def fk(
         self,