diff --git a/src/estimation/include/iDynTree/Estimation/BipedFootContactClassifier.h b/src/estimation/include/iDynTree/Estimation/BipedFootContactClassifier.h
index a2d503b8f41..dc39dc47939 100644
--- a/src/estimation/include/iDynTree/Estimation/BipedFootContactClassifier.h
+++ b/src/estimation/include/iDynTree/Estimation/BipedFootContactClassifier.h
@@ -116,6 +116,16 @@ namespace iDynTree
          * @param pattern switching pattern
          */
         void setContactSwitchingPattern(SwitchingPattern pattern) { m_pattern = pattern; } 
+        
+        /**
+         * set  primary foot
+         * This method was mainly intended to be called by an external process 
+         * to set the primary foot in the initial setting, before any contact is broken. 
+         * In case it is set to UNKNOWN_FOOT, it waits for the foot normal force measurements (checks left first and then right), 
+         * and activates corresponding foot, handled in the detectTransitions() method.
+         * @param foot primary foot
+         */
+        void setPrimaryFoot(contactFoot foot) { m_primaryFoot = foot; }
        
         // unique pointer to contact state machine for left foot
         std::unique_ptr<ContactStateMachine> m_leftFootContactClassifier;
diff --git a/src/estimation/src/BipedFootContactClassifier.cpp b/src/estimation/src/BipedFootContactClassifier.cpp
index c78ec9348f7..74109eaaa13 100644
--- a/src/estimation/src/BipedFootContactClassifier.cpp
+++ b/src/estimation/src/BipedFootContactClassifier.cpp
@@ -4,7 +4,7 @@ namespace iDynTree
 {
 
 BipedFootContactClassifier::BipedFootContactClassifier(const SchmittParams& leftFootSchmittParams, 
-                                             const SchmittParams& rightFootSchmittParams) : m_primaryFoot(LEFT_FOOT),                                                                                          
+                                             const SchmittParams& rightFootSchmittParams) : m_primaryFoot(RIGHT_FOOT),                                                                                          
                                                                                             m_leftFootContactState(true),
                                                                                             m_rightFootContactState(true),
                                                                                             m_pattern(ALTERNATE_CONTACT)
@@ -35,8 +35,7 @@ void BipedFootContactClassifier::detectFeetTransition()
         case SwitchingPattern::ALTERNATE_CONTACT:
             if (m_primaryFoot == LEFT_FOOT)
             {                
-                if ((leftFootTransition == ContactStateMachine::CONTACT_BREAK && rightFootTransition == ContactStateMachine::CONTACT_MAKE) 
-                    || (leftFootTransition == ContactStateMachine::CONTACT_BREAK && rightFootTransition == ContactStateMachine::STABLE_ONCONTACT))
+                if ( rightFootTransition == ContactStateMachine::CONTACT_MAKE && m_leftFootContactState == true)
                 {
                     m_primaryFoot = RIGHT_FOOT; 
                 }
@@ -55,8 +54,7 @@ void BipedFootContactClassifier::detectFeetTransition()
             }
             else if (m_primaryFoot == RIGHT_FOOT)
             {                
-                if ((rightFootTransition == ContactStateMachine::CONTACT_BREAK && leftFootTransition == ContactStateMachine::CONTACT_MAKE)
-                    || (rightFootTransition == ContactStateMachine::CONTACT_BREAK && leftFootTransition == ContactStateMachine::STABLE_ONCONTACT))
+                if ( leftFootTransition == ContactStateMachine::CONTACT_MAKE && m_rightFootContactState == true)
                 {
                     m_primaryFoot = LEFT_FOOT;
                 }