diff --git a/doc/Doxyfile.extra.in b/doc/Doxyfile.extra.in
index 973b62174b919b7033e19890c5c38b64f3d87f8c..ee0eae4921925abf62a1c47d11e03580e8583394 100644
--- a/doc/Doxyfile.extra.in
+++ b/doc/Doxyfile.extra.in
@@ -2,7 +2,7 @@ INPUT     = @CMAKE_SOURCE_DIR@/doc \
             @CMAKE_SOURCE_DIR@/include \
             @CMAKE_BINARY_DIR@/doc
 
-TAGFILES	= @HPP_MODEL_DOXYGENDOCDIR@/hpp-model.doxytag=@HPP_MODEL_DOXYGENDOCDIR@ \
+TAGFILES	= @HPP_pinocchio_DOXYGENDOCDIR@/hpp-pinocchio.doxytag=@HPP_pinocchio_DOXYGENDOCDIR@ \
             @HPP_CORE_DOXYGENDOCDIR@/hpp-core.doxytag=@HPP_CORE_DOXYGENDOCDIR@ \
             @HPP_CONSTRAINTS_DOXYGENDOCDIR@/hpp-constraints.doxytag=@HPP_CONSTRAINTS_DOXYGENDOCDIR@ \
             @HPP_FCL_DOXYGENDOCDIR@/hpp-fcl.doxytag=@HPP_FCL_DOXYGENDOCDIR@ \
@@ -13,6 +13,6 @@ HTML_EXTRA_FILES = @CMAKE_SOURCE_DIR@/doc/ObjectManipulation_MasterThesis_Joseph
 ALIASES   += Link{1}="\ref \1"
 ALIASES   += Link{2}="\ref \1 \"\2\""
 ALIASES   += LHPP{2}="\Link{hpp::\1::\2,\2}"
-ALIASES   += LModel{1}="\LHPP{model,\1}"
+ALIASES   += LPinocchio{1}="\LHPP{pinocchio,\1}"
 
 GENERATE_TREEVIEW	 = @DOXYGEN_TREEVIEW@
diff --git a/doc/main.hh.in b/doc/main.hh.in
index 715409d556f9bea804c2ae53f683560069f8e5f6..0eff57c0b992622bee113f339a023a6a0221de15 100644
--- a/doc/main.hh.in
+++ b/doc/main.hh.in
@@ -8,7 +8,7 @@ namespace hpp {
 
  This package implements a solver for manipulation planning problems. A
  manipulation planning problem is defined by:
- \li Device: a collection of several \LModel{Device} with \ref Gripper
+ \li Device: a collection of several \LPinocchio{Device} with \ref Gripper
  "grippers" and \ref Handle "handles",
  \li Graph: A graph of constraints defining the rules of a manipulation
  problem.