I have the same problem and have been looking at options. A quick google search "r100gs foot pegs" yielded Fastway pegs, Pivot Pegs and Knight Design as all sources for footpegs. The Knight Design pegs are made in 'Merica and I think I will try them as they also lower the foot. ADV Rider has a thread and lots of the contributors like the Fastway pegs.

Hi. I have a GSPD currently with stock pegs. Have a set of Fastwway's and have found them to be comfortable and ideally suited for off road duty as they act as a platform for extended standing riding. Very comfortable in the soft stuff, but I prefer the rounded, rubber cushioned pegs for street riding.