diff --git a/include/centroidal-dynamics-lib/centroidal_dynamics.hh b/include/centroidal-dynamics-lib/centroidal_dynamics.hh
index 7d423b8aad4ce5f2fd0a299fb28edea343be989b..5ecf4aa25f84e0a93293585ee12705f28b5e671f 100644
--- a/include/centroidal-dynamics-lib/centroidal_dynamics.hh
+++ b/include/centroidal-dynamics-lib/centroidal_dynamics.hh
@@ -11,7 +11,7 @@
 #include <centroidal-dynamics-lib/util.hh>
 #include <centroidal-dynamics-lib/solver_LP_abstract.hh>
 
-namespace robust_equilibrium
+namespace centroidal_dynamics
 {
 
 enum CENTROIDAL_DYNAMICS_DLLAPI EquilibriumAlgorithm
@@ -299,6 +299,6 @@ public:
 
 };
 
-} // end namespace robust_equilibrium
+} // end namespace centroidal_dynamics
 
 #endif
diff --git a/include/centroidal-dynamics-lib/logger.hh b/include/centroidal-dynamics-lib/logger.hh
index 9015d1511acbbac1af9728776d24590bd29ee7f4..7fe616decaa3a383b3216dcde9b7523b5d33c29c 100644
--- a/include/centroidal-dynamics-lib/logger.hh
+++ b/include/centroidal-dynamics-lib/logger.hh
@@ -3,8 +3,8 @@
  * Author: Andrea Del Prete
  */
 
-#ifndef __robust_equilibrium_lib_logger_H__
-#define __robust_equilibrium_lib_logger_H__
+#ifndef __centroidal_dynamics_lib_logger_H__
+#define __centroidal_dynamics_lib_logger_H__
 
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
@@ -16,7 +16,7 @@
 #include <map>
 #include "boost/assign.hpp"
 
-namespace robust_equilibrium
+namespace centroidal_dynamics
 {
 
 //#define LOGGER_VERBOSITY_ERROR
@@ -183,6 +183,6 @@ namespace robust_equilibrium
   /** Method to get the logger (singleton). */
   Logger& getLogger();
 
-} // namespace robust_equilibrium
+} // namespace centroidal_dynamics
 
 #endif // #ifndef __sot_torque_control_trajectory_generators_H__
diff --git a/include/centroidal-dynamics-lib/solver_LP_abstract.hh b/include/centroidal-dynamics-lib/solver_LP_abstract.hh
index 43ccb2906b6cc420e755c625fffd8c1414579350..6acb75a25219b6ff586a1b01ef37828ef67b5380 100644
--- a/include/centroidal-dynamics-lib/solver_LP_abstract.hh
+++ b/include/centroidal-dynamics-lib/solver_LP_abstract.hh
@@ -10,7 +10,7 @@
 #include <centroidal-dynamics-lib/config.hh>
 #include <centroidal-dynamics-lib/util.hh>
 
-namespace robust_equilibrium
+namespace centroidal_dynamics
 {
 
 /**
@@ -147,6 +147,6 @@ public:
 
 };
 
-} // end namespace robust_equilibrium
+} // end namespace centroidal_dynamics
 
 #endif //CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_ABSTRACT_HH
diff --git a/include/centroidal-dynamics-lib/solver_LP_clp.hh b/include/centroidal-dynamics-lib/solver_LP_clp.hh
index 6d0c2ee518abce52411ddc9abe52f84074d11041..b6829d394f879fcf199e45e7f45befb427ddccc5 100644
--- a/include/centroidal-dynamics-lib/solver_LP_clp.hh
+++ b/include/centroidal-dynamics-lib/solver_LP_clp.hh
@@ -13,7 +13,7 @@
 #include <centroidal-dynamics-lib/solver_LP_abstract.hh>
 #include "ClpSimplex.hpp"
 
-namespace robust_equilibrium
+namespace centroidal_dynamics
 {
 
 class CENTROIDAL_DYNAMICS_DLLAPI Solver_LP_clp: public Solver_LP_abstract
@@ -50,7 +50,7 @@ public:
   virtual bool setMaximumTime(double seconds);
 };
 
-} // end namespace robust_equilibrium
+} // end namespace centroidal_dynamics
 
 #endif //CENTROIDAL_DYNAMICS_LIB_SOLVER_LP_CLP_HH
 
diff --git a/include/centroidal-dynamics-lib/solver_LP_qpoases.hh b/include/centroidal-dynamics-lib/solver_LP_qpoases.hh
index 62bd5e927c258ae59d4cb1eb2829f235dd8f47cf..6c0ab787ed09abe5f7d53378e76934971405cc02 100644
--- a/include/centroidal-dynamics-lib/solver_LP_qpoases.hh
+++ b/include/centroidal-dynamics-lib/solver_LP_qpoases.hh
@@ -11,7 +11,7 @@
 #include <centroidal-dynamics-lib/solver_LP_abstract.hh>
 #include <qpOASES.hpp>
 
-namespace robust_equilibrium
+namespace centroidal_dynamics
 {
 
 class CENTROIDAL_DYNAMICS_DLLAPI Solver_LP_qpoases: public Solver_LP_abstract
@@ -47,6 +47,6 @@ public:
 
 };
 
-} // end namespace robust_equilibrium
+} // end namespace centroidal_dynamics
 
 #endif //CENTROIDAL_DYNAMICS_LIB_SOLVER_QPOASES_HH
diff --git a/include/centroidal-dynamics-lib/util.hh b/include/centroidal-dynamics-lib/util.hh
index 43ea2449b28bcf0c61d52641169556aba961c0ca..22a6dcb1b7b3a06548258d6696b43fce3c37303c 100644
--- a/include/centroidal-dynamics-lib/util.hh
+++ b/include/centroidal-dynamics-lib/util.hh
@@ -16,7 +16,7 @@
 #include "cdd/cddtypes.h"
 #include "cdd/cdd.h"
 
-namespace robust_equilibrium
+namespace centroidal_dynamics
 {
 
   //#define USE_FLOAT 1;
@@ -129,6 +129,6 @@ namespace robust_equilibrium
 
   std::string getDateAndTimeAsString();
 
-} //namespace robust_equilibrium
+} //namespace centroidal_dynamics
 
 #endif //_CENTROIDAL_DYNAMICS_LIB_UTIL_HH
diff --git a/src/centroidal_dynamics.cpp b/src/centroidal_dynamics.cpp
index 9cc69b25b28cfbe075d4fa2097d54ce4b5938396..329b194205dfe3a005caf98a03dd755e93935486 100644
--- a/src/centroidal_dynamics.cpp
+++ b/src/centroidal_dynamics.cpp
@@ -12,7 +12,7 @@
 
 using namespace std;
 
-namespace robust_equilibrium
+namespace centroidal_dynamics
 {
 
 bool StaticEquilibrium::m_is_cdd_initialized = false;
@@ -638,4 +638,4 @@ bool StaticEquilibrium::checkAdmissibleAcceleration(Cref_matrixXX G, Cref_matrix
 }
 
 
-} // end namespace robust_equilibrium
+} // end namespace centroidal_dynamics
diff --git a/src/logger.cpp b/src/logger.cpp
index bd4a491ec061a3c3f0c3b30c3948b72a8f55a7a4..04f45c8cf03e89ffc7dae9904a8546c6d3bd492d 100644
--- a/src/logger.cpp
+++ b/src/logger.cpp
@@ -15,7 +15,7 @@
 #include <boost/algorithm/string.hpp>
 #include <centroidal-dynamics-lib/logger.hh>
 
-namespace robust_equilibrium
+namespace centroidal_dynamics
 {
   using namespace std;
 
@@ -114,5 +114,5 @@ namespace robust_equilibrium
     return true;
   }
 
-} // namespace robust_equilibrium
+} // namespace centroidal_dynamics
 
diff --git a/src/solver_LP_abstract.cpp b/src/solver_LP_abstract.cpp
index 2c80e0ae90b5de6edcf712c07fcbc1bc3eb74714..7e3e7613b858311411f20f5c8f51ea55378ca5a0 100644
--- a/src/solver_LP_abstract.cpp
+++ b/src/solver_LP_abstract.cpp
@@ -15,7 +15,7 @@
 
 using namespace std;
 
-namespace robust_equilibrium
+namespace centroidal_dynamics
 {
 
 Solver_LP_abstract* Solver_LP_abstract::getNewSolver(SolverLP solverType)
@@ -108,4 +108,4 @@ bool Solver_LP_abstract::setMaximumTime(double seconds)
   return true;
 }
 
-} // end namespace robust_equilibrium
+} // end namespace centroidal_dynamics
diff --git a/src/solver_LP_clp.cpp b/src/solver_LP_clp.cpp
index ae7789cbf779897ca709f03bf29cc6245503f896..aa1d5d36deb457a04360bfafe63c057c50e9f906 100644
--- a/src/solver_LP_clp.cpp
+++ b/src/solver_LP_clp.cpp
@@ -8,7 +8,7 @@
 #include <centroidal-dynamics-lib/solver_LP_clp.hh>
 #include "CoinBuild.hpp"
 
-namespace robust_equilibrium
+namespace centroidal_dynamics
 {
 
 Solver_LP_clp::Solver_LP_clp(): Solver_LP_abstract()
@@ -116,6 +116,6 @@ bool Solver_LP_clp::setMaximumTime(double seconds)
   return true;
 }
 
-} // end namespace robust_equilibrium
+} // end namespace centroidal_dynamics
 
 #endif //CLP_FOUND
diff --git a/src/solver_LP_qpoases.cpp b/src/solver_LP_qpoases.cpp
index 20e85bbd55ce6e9ead2e5723808a7c47dec307ec..12fb4743948316bcd2af54fb5a34f54a3e8d994a 100644
--- a/src/solver_LP_qpoases.cpp
+++ b/src/solver_LP_qpoases.cpp
@@ -8,7 +8,7 @@
 
 USING_NAMESPACE_QPOASES
 
-namespace robust_equilibrium
+namespace centroidal_dynamics
 {
 
   Solver_LP_qpoases::Solver_LP_qpoases(): Solver_LP_abstract()
@@ -82,4 +82,4 @@ namespace robust_equilibrium
     return LP_STATUS_ERROR;
   }
 
-} // end namespace robust_equilibrium
+} // end namespace centroidal_dynamics
diff --git a/src/util.cpp b/src/util.cpp
index 243fd2be170df522fd3c494c945e06a1a883923a..85d069d31a8d1acecf4a0b48ebcb7866966e70fd 100644
--- a/src/util.cpp
+++ b/src/util.cpp
@@ -9,7 +9,7 @@
 #include <centroidal-dynamics-lib/util.hh>
 #include <ctime>
 
-namespace robust_equilibrium
+namespace centroidal_dynamics
 {
 
 dd_MatrixPtr cone_span_eigen_to_cdd(Cref_matrixXX input, const bool canonicalize)
@@ -166,6 +166,6 @@ std::string getDateAndTimeAsString()
   return std::string(buffer);
 }
 
-} //namespace robust_equilibrium
+} //namespace centroidal_dynamics
 
 #endif //_CENTROIDAL_DYNAMICS_LIB_CONFIG_HH
diff --git a/test/test_LP_solvers.cpp b/test/test_LP_solvers.cpp
index d5cca37274c71ff221a861836bfa3367330445ac..6a90d8eacc3c5bf698db48f6872c4299af15f08c 100644
--- a/test/test_LP_solvers.cpp
+++ b/test/test_LP_solvers.cpp
@@ -19,7 +19,7 @@
 #include <iomanip>
 
 using namespace std;
-using namespace robust_equilibrium;
+using namespace centroidal_dynamics;
 USING_NAMESPACE_QPOASES
 
 #define EPS 1e-6
diff --git a/test/test_static_equilibrium.cpp b/test/test_static_equilibrium.cpp
index a25f65d357aedc28855f0e60c077f0208c1f0e3d..f05dd7b2db75affb7eab0776309b500b6a494446 100644
--- a/test/test_static_equilibrium.cpp
+++ b/test/test_static_equilibrium.cpp
@@ -9,7 +9,7 @@
 #include <centroidal-dynamics-lib/logger.hh>
 #include <centroidal-dynamics-lib/stop-watch.hh>
 
-using namespace robust_equilibrium;
+using namespace centroidal_dynamics;
 using namespace Eigen;
 using namespace std;