diff --git a/CMakeLists.txt b/CMakeLists.txt
index a759493dec05fe4c3da09c32fdee2667246c2ef5..28f9dc8e60dd11d0b072d5539b634820db49544a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,7 +19,7 @@ enable_testing()
 
 # Name of the project
 #--------------------
-SET(PROJECT_NAME walkGenJrl)
+SET(PROJECT_NAME jrl-walkgen)
 SET(PROJECT_CONTACT olivier.stasse@aist.go.jp)
 SET(PROJECT_DESCRIPTION "Humanoid Walking Pattern Generator (JRL)")
 
@@ -76,11 +76,11 @@ INCLUDE(FindPkgConfig)
 
 # Look for abstract robot dynamics.
 SET(ABSTRACTROBOTDYNAMICS_REQUIRED_VERSION 1.15)
-pkg_check_modules(ABSTRACTROBOTDYNAMICS REQUIRED abstractRobotDynamics>=${ABSTRACTROBOTDYNAMICS_REQUIRED_VERSION})
+pkg_check_modules(ABSTRACTROBOTDYNAMICS REQUIRED abstract-robot-dynamics>=${ABSTRACTROBOTDYNAMICS_REQUIRED_VERSION})
 SET(PROJECT_REQUIREMENTS "abstractRobotDynamics >= ${ABSTRACTROBOTDYNAMICS_REQUIRED_VERSION}")
 
-EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS  --variable=docdir abstractRobotDynamics
-  OUTPUT_VARIABLE _abstractRobotDynamics_DOCDIR)
+EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS  --variable=docdir abstract-robot-dynamics
+  OUTPUT_VARIABLE _abstract-robot-dynamics_DOCDIR)
 
 SET(${PROJECT_NAME}_src_CXXFLAGS "${${PROJECT_NAME}_src_CXXFLAGS} -I${${PROJECT_NAME}_SOURCE_DIR}")
 
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
index f4c66ee98c88151b10cc221b16057d3bd4092ef4..1fda0ded071af1ac262721a12005a5a223f11331 100644
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -15,7 +15,7 @@
 
 SET(BUILD_DIR ${CMAKE_BINARY_DIR}/doc)
 
-SET(DOCDIR share/doc/${PROJECT_NAME})
+SET(DOCDIR share/doc/jrl/walkgen)
 SET(HTMLDIR ${DOCDIR}/html)
 
 # Add `doc' target.
diff --git a/include/jrl/walkgen/patterngeneratorinterface.hh b/include/jrl/walkgen/patterngeneratorinterface.hh
index a7beba97468cd207c415c6a7e37dca38e541ba6f..63a02ad30836003d04492ae84e835aae28dd7c65 100644
--- a/include/jrl/walkgen/patterngeneratorinterface.hh
+++ b/include/jrl/walkgen/patterngeneratorinterface.hh
@@ -35,7 +35,7 @@
 #define _PATTERN_GENERATOR_INTERFACE_H_
 
 #include <deque>
-#include <abstract-robot-dynamics/jrlHumanoidDynamicRobot.h>
+#include <abstract-robot-dynamics/jrlhumanoiddynamicrobot.hh>
 #include <jrl/walkgen/pgtypes.hh>
 
 namespace PatternGeneratorJRL
diff --git a/walkGenJrl.pc.cmake b/jrl-walkgen.pc.cmake
similarity index 100%
rename from walkGenJrl.pc.cmake
rename to jrl-walkgen.pc.cmake
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index a11f973f50eee4d2c8682148cd14cc56c394d916..5ee5bbe5d5b452efbb5b9bb8f957e8079169ad49 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -107,7 +107,7 @@ SET_TARGET_PROPERTIES(${PROJECT_NAME_LIB}
 # -------------------------
 SET(${PROJECT_NAME}_src_CXXFLAGS "-I${PROJECT_SOURCE_DIR}/include/ ${${PROJECT_NAME}_src_CXXFLAGS}")
 SET(${PROJECT_NAME}_src_CXXFLAGS "-I${PROJECT_SOURCE_DIR}/src/ ${${PROJECT_NAME}_src_CXXFLAGS}")
-SET(${PROJECT_NAME}_src_CXXFLAGS "-I${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME} ${${PROJECT_NAME}_src_CXXFLAGS}")
+SET(${PROJECT_NAME}_src_CXXFLAGS "-I${PROJECT_SOURCE_DIR}/include/jrl/walkgen/ ${${PROJECT_NAME}_src_CXXFLAGS}")
 SET(${PROJECT_NAME}_src_CXXFLAGS "${${PROJECT_NAME}_src_CXXFLAGS} -I${CMAKE_INSTALL_PREFIX}/include")
 SET(${PROJECT_NAME}_src_CXXFLAGS "${${PROJECT_NAME}_src_CXXFLAGS} ${${PROJECT_NAME}_CXXFLAGS}")
 SET_TARGET_PROPERTIES(${PROJECT_NAME_LIB}
@@ -123,9 +123,13 @@ SET(${PROJECT_NAME}_HEADERS ${libwpg_headers})
 # Installation 
 # -------------
 MESSAGE(STATUS "Source directory: ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}")
-INSTALL(DIRECTORY ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME} 
-	DESTINATION include/
-	FILES_MATCHING PATTERN "*.h" )
+#INSTALL(FILES ${${PROJECT_NAME}_HEADERS}
+#	DESTINATION include/jrl/walkgen
+#	PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)	
+
+INSTALL(DIRECTORY ${PROJECT_SOURCE_DIR}/include/jrl/walkgen 
+	DESTINATION include/jrl/walkgen
+	FILES_MATCHING PATTERN "*.hh" )
 
 IF(UNIX)
 
diff --git a/src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.h b/src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.h
index 26a1c708f2cc998876ba1e377650c836a5a413f8..77265d60f2d7b753cf34d74db9e904102a6f1f3e 100644
--- a/src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.h
+++ b/src/FootTrajectoryGeneration/FootTrajectoryGenerationAbstract.h
@@ -39,7 +39,7 @@
 #include <jrl/mal/matrixabstractlayer.hh>
 
 /* dynamics JRL Japan related inclusions */
-#include <abstract-robot-dynamics/jrlFoot.h>
+#include <abstract-robot-dynamics/jrlfoot.hh>
 
 /* Walking pattern generation related inclusions */
 
diff --git a/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.h b/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.h
index c8305eb6c3cc1b405b403d3ee21dc86328b5dd5f..f1e9af471a36de58504d01347be68eb7a8544b7f 100644
--- a/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.h
+++ b/src/FootTrajectoryGeneration/LeftAndRightFootTrajectoryGenerationMultiple.h
@@ -33,7 +33,7 @@
 #include <jrl/mal/matrixabstractlayer.hh>
 
 /* abstractRobotDynamics inclusion */
-#include <abstract-robot-dynamics/jrlFoot.h>
+#include <abstract-robot-dynamics/jrlfoot.hh>
 
 /* Walking Pattern Generator inclusion */
 
diff --git a/src/GlobalStrategyManagers/GlobalStrategyManager.h b/src/GlobalStrategyManagers/GlobalStrategyManager.h
index 307366ee9f9615f401bb8e288dd34be8995f3846..96fdabf051938493f574b9d4da1f2d6582c92a55 100644
--- a/src/GlobalStrategyManagers/GlobalStrategyManager.h
+++ b/src/GlobalStrategyManagers/GlobalStrategyManager.h
@@ -33,7 +33,7 @@
 #include <jrl/mal/matrixabstractlayer.hh>
 
 // Dynamics
-#include <abstract-robot-dynamics/jrlHumanoidDynamicRobot.h>
+#include <abstract-robot-dynamics/jrlhumanoiddynamicrobot.hh>
 
 // PG
 
diff --git a/src/Mathematics/FootConstraintsAsLinearSystem.h b/src/Mathematics/FootConstraintsAsLinearSystem.h
index 041d3aab6beca91a05555f058919a10bb1d56662..da0d4722d99b7c17aa6e29156feb5e669103480b 100644
--- a/src/Mathematics/FootConstraintsAsLinearSystem.h
+++ b/src/Mathematics/FootConstraintsAsLinearSystem.h
@@ -38,7 +38,7 @@
 
 #include <jrl/mal/matrixabstractlayer.hh>
 
-#include <abstract-robot-dynamics/jrlHumanoidDynamicRobot.h>
+#include <abstract-robot-dynamics/jrlhumanoiddynamicrobot.hh>
 
 
 #include <jrl/walkgen/pgtypes.hh>
diff --git a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h
index 06af2464eb16e19f2603da445d75ec29234152b9..b489cf006753806dce486c8824db7a448f120ebb 100644
--- a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h
+++ b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h
@@ -39,7 +39,7 @@
 
 #include <jrl/mal/matrixabstractlayer.hh>
 
-#include <abstract-robot-dynamics/jrlHumanoidDynamicRobot.h>
+#include <abstract-robot-dynamics/jrlhumanoiddynamicrobot.hh>
 
 
 #include <jrl/walkgen/pgtypes.hh>
diff --git a/src/MotionGeneration/ComAndFootRealization.h b/src/MotionGeneration/ComAndFootRealization.h
index 60a0973997cef4cec32cbccdab92ffa090a3faf0..ff5d7852d1410eac55f03a6174962e6675d89651 100644
--- a/src/MotionGeneration/ComAndFootRealization.h
+++ b/src/MotionGeneration/ComAndFootRealization.h
@@ -29,7 +29,7 @@
 #ifndef _COM_AND_FOOT_REALIZATION_H_
 #define _COM_AND_FOOT_REALIZATION_H_
 
-#include <abstract-robot-dynamics/jrlHumanoidDynamicRobot.h>
+#include <abstract-robot-dynamics/jrlhumanoiddynamicrobot.hh>
 
 #include <SimplePlugin.h>
 #include <StepStackHandler.h>
diff --git a/src/MotionGeneration/StepOverPlanner.h b/src/MotionGeneration/StepOverPlanner.h
index 36e151622f3f86efb78d560b36fbc3b25352734b..9154e5d932f19957a4746803a036fbb7ab7ca62c 100644
--- a/src/MotionGeneration/StepOverPlanner.h
+++ b/src/MotionGeneration/StepOverPlanner.h
@@ -44,7 +44,7 @@
 #include <jrl/mal/matrixabstractlayer.hh>
 
 /*! Abstract Interface for dynamic robot. */
-#include <abstract-robot-dynamics/jrlHumanoidDynamicRobot.h>
+#include <abstract-robot-dynamics/jrlhumanoiddynamicrobot.hh>
 
 /*! Humanoid Walking Pattern Generator */
 
diff --git a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h
index 8c698b5ef3676423add972223fb2260ec1ff989a..0fe7994e3e25d6d15a652e2eb841d58ec458577b 100644
--- a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h
+++ b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h
@@ -41,7 +41,7 @@
 
 /*! Framework includes */
 #include <jrl/walkgen/pgtypes.hh>
-#include <abstract-robot-dynamics/jrlJoint.h>
+#include <abstract-robot-dynamics/jrljoint.hh>
 
 namespace PatternGeneratorJRL
 {
diff --git a/src/ZMPRefTrajectoryGeneration/ZMPDiscretization.h b/src/ZMPRefTrajectoryGeneration/ZMPDiscretization.h
index 87d0d769dfdfcaba0080528fdefc40d7ad185a08..4a0f8632ccf5fd5830f7556654f5a178326f21c3 100644
--- a/src/ZMPRefTrajectoryGeneration/ZMPDiscretization.h
+++ b/src/ZMPRefTrajectoryGeneration/ZMPDiscretization.h
@@ -45,7 +45,7 @@
 using namespace::std;
 
 /*! Abstract robot dynamics includes */
-#include <abstract-robot-dynamics/jrlHumanoidDynamicRobot.h>
+#include <abstract-robot-dynamics/jrlhumanoiddynamicrobot.hh>
 
 /*! Framework includes */
 #include <Mathematics/PolynomeFoot.h>
diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index 604d5cbbd857640c063e1305cc48ff9d0badc3a3..c2b328796a710a10ae26a0b4efee719b94529b70 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -58,13 +58,13 @@ MESSAGE(STATUS "UL: ${${PROJECT_NAME}_test_LDFLAGS}  ${${PROJECT_NAME}_test_CXXF
 # Deal with dynamicsJRLJapan #
 ##############################
 SET(_dynamicsJRLJapan_FOUND 0)
-SET(_dynamicsJRLJapan_OPTIONAL "dynamicsJRLJapan >= 1.19.1")
+SET(_dynamicsJRLJapan_OPTIONAL "jrl-dynamics >= 1.19.1")
 PKG_CHECK_MODULES(_dynamicsJRLJapan ${_dynamicsJRLJapan_OPTIONAL})
 
 IF(NOT _dynamicsJRLJapan_FOUND)
-  MESSAGE(WARNING "Check that package dynamicsJRLJapan is installed in a directory pointed out by PKG_CONFIG_PATH.")
+  MESSAGE(WARNING "Check that package jrl-dynamics is installed in a directory pointed out by PKG_CONFIG_PATH.")
 ELSE(NOT _dynamicsJRLJapan_FOUND)
-  EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS  --variable=datarootdir dynamicsJRLJapan
+  EXEC_PROGRAM(${PKG_CONFIG_EXECUTABLE} ARGS  --variable=datarootdir jrl-dynamics
     OUTPUT_VARIABLE _dynamicsJRLJapan_DATADIR)
   
   IF(NOT _hrp2Dynamics_FOUND)
@@ -149,10 +149,10 @@ SET_TARGET_PROPERTIES( TestMorisawa2007
 target_link_libraries (TestMorisawa2007 ${PROJECT_NAME})
 ADD_DEPENDENCIES (TestMorisawa2007 ${PROJECT_NAME})
 
-set (samplemodelpath ${_dynamicsJRLJapan_DATADIR}/examples/dynamicsJRLJapan/data/ )
-set (samplespec ${_dynamicsJRLJapan_DATADIR}/examples/dynamicsJRLJapan/data/sampleSpecificities.xml)
-set (sampleljr ${_dynamicsJRLJapan_DATADIR}/examples/dynamicsJRLJapan/data/sampleLinkJointRank.xml)
-set (sampleinitconfig ${_dynamicsJRLJapan_DATADIR}/examples/dynamicsJRLJapan/data/sampleInitConfig.dat)
+set (samplemodelpath ${_dynamicsJRLJapan_DATADIR}/examples/jrl/dynamics/data/ )
+set (samplespec ${_dynamicsJRLJapan_DATADIR}/examples/jrl/dynamics/data/sampleSpecificities.xml)
+set (sampleljr ${_dynamicsJRLJapan_DATADIR}/examples/jrl/dynamics/data/sampleLinkJointRank.xml)
+set (sampleinitconfig ${_dynamicsJRLJapan_DATADIR}/examples/jrl/dynamics/data/sampleInitConfig.dat)
 
 MESSAGE(STATUS "Sample specificities:" ${samplespec})
 MESSAGE(STATUS "Sample link joint rank:" ${sampleljr})
@@ -197,6 +197,6 @@ SET(${PROJECT_NAME}_EXAMPLES
   )
 
 INSTALL(FILES ${${PROJECT_NAME}_EXAMPLES}
-  DESTINATION share/examples/${PROJECT_NAME}/
+  DESTINATION share/examples/jrl/walkgen/
   PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE OWNER_EXECUTE GROUP_EXECUTE WORLD_EXECUTE )