diff --git a/tsid/Makefile b/tsid/Makefile
index a91a549a8edbf1ec8c4b3d72ed773702956e9aff..97e55923cdb0a368b6fc357912887bcf363014ad 100644
--- a/tsid/Makefile
+++ b/tsid/Makefile
@@ -37,5 +37,6 @@ include ../../mk/language/c++.mk
 
 DEPEND_ABI.python +=		python<3
 DEPEND_ABI.pinocchio +=	pinocchio>=1.2.4
+DEPEND_ABI.eigen3 += eigen3>=3.2.0
 
 include ../../mk/robotpkg.mk
diff --git a/tsid/depend.mk b/tsid/depend.mk
index c3c769dbb759d80090a6feac60515289c617718c..f14e91fce8adb1cfee9d584153d5b2fffd49f785 100644
--- a/tsid/depend.mk
+++ b/tsid/depend.mk
@@ -18,7 +18,7 @@ SYSTEM_SEARCH.tsid=\
 
 DEPEND_USE+=		tsid
 
-DEPEND_ABI.tsid?=	tsid>=1.1.2
+DEPEND_ABI.tsid?=	tsid>=1.0.0
 DEPEND_DIR.tsid?=	../../wip/tsid
 
 endif # TSID_DEPEND_MK ------------------------------------------------