diff --git a/src/articulated_model/model_config.cpp b/src/articulated_model/model_config.cpp
index 43d62de641dd994f7d923c762cabb9e58e9eee55..dcd151954df9e260ec52b5de86b7902886263f7e 100644
--- a/src/articulated_model/model_config.cpp
+++ b/src/articulated_model/model_config.cpp
@@ -38,6 +38,11 @@
 #include "fcl/articulated_model/joint.h"
 #include <algorithm>
 
+// Define for boost version < 1.47
+#ifndef BOOST_ASSERT_MSG
+#define BOOST_ASSERT_MSG(expr, msg) ((void)0)
+#endif
+
 namespace fcl
 {
 
diff --git a/src/ccd/interpolation/interpolation_factory.cpp b/src/ccd/interpolation/interpolation_factory.cpp
index c9f81ee2b23fcbdeb56964efd7e42b6ef3324e84..5a7ed8dfaa7a492ce9608d48ca602da5337ef248 100644
--- a/src/ccd/interpolation/interpolation_factory.cpp
+++ b/src/ccd/interpolation/interpolation_factory.cpp
@@ -39,6 +39,11 @@
 
 #include <boost/assert.hpp>
 
+// Define for boost version < 1.47
+#ifndef BOOST_ASSERT_MSG
+#define BOOST_ASSERT_MSG(expr, msg) ((void)0)
+#endif
+
 namespace fcl 
 {