diff --git a/README.md b/README.md
index 26b99ec6bf79fb50c1234d21450c744f6a0b06a3..6641511a9ea4e6e0dcff1f764f8b7e9cfbc68029 100644
--- a/README.md
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@@ -4,4 +4,8 @@
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 [![Coverage report](https://gepgitlab.laas.fr/humanoid-path-planner/hpp-fcl/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/humanoid-path-planner/hpp-fcl/master/coverage/)
 
-This project is a fork from https://github.com/flexible-collision-library/fcl. The main difference is the computation of a lower bound of the distance between two objects when collision checking is performed and no collision is found.
+This project is a fork from https://github.com/flexible-collision-library/fcl.
+
+The main differences are.
+- the use of a safety margin when detecting collision,
+- the computation of a lower bound of the distance between two objects when collision checking is performed and no collision is found.