diff --git a/CMakeLists.txt b/CMakeLists.txt
index 97cd81ba4812660ba67e43b8c53666bb1a6a4d35..60012182a8715acb7eabce4b95d04a5595506367 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -38,7 +38,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/find-external/CDD")
 
 ADD_REQUIRED_DEPENDENCY(eigen3)
 ADD_REQUIRED_DEPENDENCY(hpp-centroidal-dynamics)
-ADD_REQUIRED_DEPENDENCY(hpp-spline)
+ADD_REQUIRED_DEPENDENCY("curves >= 0.3")
 FIND_PACKAGE(CDD REQUIRED)
 INCLUDE_DIRECTORIES(${CDD_INCLUDE_DIRS})
 
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 0172d362ad0a1101744da128cc4005d291c4e949..52bc5949c7cf7271953f078d8ad47e459fdb0a08 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -14,6 +14,7 @@ IF(APPLE)
 ENDIF(APPLE)
 PKG_CONFIG_USE_DEPENDENCY(${PY_NAME} eigenpy)
 PKG_CONFIG_USE_DEPENDENCY(${PY_NAME} hpp-centroidal-dynamics)
+PKG_CONFIG_USE_DEPENDENCY(${PY_NAME} curves)
 TARGET_LINK_LIBRARIES(${PY_NAME} hpp-centroidal-dynamics)
 
 INSTALL(
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 905ea9045055fc4daf68a4c269d57763751fde43..bfb7bf537d2f7c7c832053121922346214374a76 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -24,5 +24,6 @@ if (USE_GLPK)
   TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${glpk_LIBRARY})
 endif(USE_GLPK)
 PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-centroidal-dynamics)
+PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} curves)
 
 INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 10ca0cd8ed5ab49c9dde1f4948818c34dee96a00..8c7460f983da629bf50b51958dfcb6153164b572 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -8,6 +8,7 @@ SET(${PROJECT_NAME}_TESTS
 FOREACH(test ${${PROJECT_NAME}_TESTS})
   ADD_UNIT_TEST("${test}" "test-${test}")
   PKG_CONFIG_USE_DEPENDENCY(${test} hpp-centroidal-dynamics)
+  PKG_CONFIG_USE_DEPENDENCY(${test} curves)
   PKG_CONFIG_USE_DEPENDENCY(${test} eigen3)
   TARGET_LINK_LIBRARIES(${test} ${Boost_LIBRARIES} ${PROJECT_NAME} hpp-centroidal-dynamics)
 ENDFOREACH(test)