diff --git a/Makefile b/Makefile
index bf2161a556af15a4d03dcebf15c399a493b0d5f6..1f100c0a5c990fa6b0a8f6a37d8c1e1818002412 100644
--- a/Makefile
+++ b/Makefile
@@ -17,6 +17,5 @@ SUBDIR+= sot-gui
SUBDIR+= spark-genom
SUBDIR+= stackoftasks
SUBDIR+= visp
-SUBDIR+= liblbfgs
include ../mk/robotpkg.subdir.mk
diff --git a/liblbfgs/DESCR b/liblbfgs/DESCR
deleted file mode 100644
index 04ef969694ac9cc59726d0ec8aa8d401f685c695..0000000000000000000000000000000000000000
--- a/liblbfgs/DESCR
+++ /dev/null
@@ -1,16 +0,0 @@
-This library is a C port of the implementation of Limited-memory
-Broyden-Fletcher-Goldfarb-Shanno (L-BFGS) method written by Jorge Nocedal. The
-original FORTRAN source code is available at:
-http://www.ece.northwestern.edu/~nocedal/lbfgs.html
-The L-BFGS method solves the unconstrainted minimization problem,
-
- minimize F(x), x = (x1, x2, ..., xN),
-
-only if the objective function F(x) and its gradient G(x) are computable. The
-well-known Newton's method requires computation of the inverse of the hessian
-matrix of the objective function. However, the computational cost for the inverse
-hessian matrix is expensive especially when the objective function takes a large
-number of variables. The L-BFGS method iteratively finds a minimizer by
-approximating the inverse hessian matrix by information from last m iterations.
-This innovation saves the memory storage and computational time drastically for
-large-scaled problems.
\ No newline at end of file
diff --git a/liblbfgs/Makefile b/liblbfgs/Makefile
deleted file mode 100644
index 603d4f5c0c775e4a359b2d06510ae036ab9f7382..0000000000000000000000000000000000000000
--- a/liblbfgs/Makefile
+++ /dev/null
@@ -1,35 +0,0 @@
-# $LAAS: Makefile 2010/03/22 16:02:45 nksallem $
-#
-# Copyright (c) 2007-2010 LAAS/CNRS
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are
-# met:
-#
-# 1. Redistributions of source code must retain the above copyright
-# notice and this list of conditions.
-# 2. Redistributions in binary form must reproduce the above copyright
-# notice and this list of conditions in the documentation and/or
-# other materials provided with the distribution.
-#
-# Nizar Sallem on Tue Aug 24 2010
-#
-
-DISTNAME= liblbfgs-1.9
-PKGNAME= liblbfgs
-EXTRACT_SUFX= .tar.gz
-CATEGORIES= math
-MASTER_SITES= http://www.chokkan.org/software/dist/
-
-MAINTAINER= openrobots@laas.fr
-HOMEPAGE= http://www.chokkan.org/software/liblbfgs/
-COMMENT= Limited-memory Broyden-Fletcher-Goldfarb-Shanno C port
-LICENSE= mit
-
-USE_LANGUAGES+= c c++
-
-GNU_CONFIGURE = yes
-
-include ../../pkgtools/libtool/depend.mk
-include ../../mk/robotpkg.mk
diff --git a/liblbfgs/PLIST b/liblbfgs/PLIST
deleted file mode 100644
index 88d15fdd2134cf79bc95fb46fc68d895d6e2dd1a..0000000000000000000000000000000000000000
--- a/liblbfgs/PLIST
+++ /dev/null
@@ -1,9 +0,0 @@
-@comment Fri Nov 5 11:36:07 CET 2010
-include/lbfgs.h
-lib/${PKGNAME}.la
-share/doc/${PKGNAME}/AUTHORS
-share/doc/${PKGNAME}/COPYING
-share/doc/${PKGNAME}/ChangeLog
-share/doc/${PKGNAME}/INSTALL
-share/doc/${PKGNAME}/NEWS
-share/doc/${PKGNAME}/README
diff --git a/liblbfgs/depend.mk b/liblbfgs/depend.mk
deleted file mode 100644
index 3a61cab645e130577edb1aeea34dbdfd3891e35a..0000000000000000000000000000000000000000
--- a/liblbfgs/depend.mk
+++ /dev/null
@@ -1,26 +0,0 @@
-# robotpkg depend.mk for: wip/liblbfgs
-# Created: Anthony Mallet on Fri, 14 Mar 2008
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-LIBLBFGS_DEPEND_MK:= ${LIBLBFGS_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= liblbfgs
-endif
-
-ifeq (+,$(LIBLBFGS_DEPEND_MK)) # ---------------------------------------------
-
-PREFER.liblbfgs?= robotpkg
-
-DEPEND_USE+= liblbfgs
-DEPEND_ABI.liblbfgs?= liblbfgs>=1.9
-DEPEND_DIR.liblbfgs?= ../../wip/liblbfgs
-
-SYSTEM_SEARCH.liblbfgs=\
- include/lbfgs.h \
- lib/liblbfgs.la
-
-endif # LIBLBFGS_DEPEND_MK ---------------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/liblbfgs/distinfo b/liblbfgs/distinfo
deleted file mode 100644
index b8886e6ac5815270f2cbe223b4bdd426e9689062..0000000000000000000000000000000000000000
--- a/liblbfgs/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (liblbfgs-1.9.tar.gz) = 9bd56c8b61a838badeb945399fbefbeb9b48b1db
-RMD160 (liblbfgs-1.9.tar.gz) = 3d712334815daf10a1383ae7522013711284e283
-Size (liblbfgs-1.9.tar.gz) = 318447 bytes