diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index c51297f0bc2f4df1e4846a4844ee171604959a8c..da9f99d25d6801ea2c77c9cdb39148cdebe476cd 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -286,6 +286,7 @@ namespace hpp {
         constraints->configProjector ()->rightHandSideFromConfig(q1);
         if (constraints->isSatisfied (q1)) {
           if (constraints->isSatisfied (q2)) {
+	    if (q1.isApprox (q2)) return false;
             path = (*steeringMethod_->get()) (q1, q2);
             return path;
           }
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index aed7a214c9a6fd3c38c152bf4ed195f8730663dd..eaa52388597b45f381bbe2098b502e30db1750f0 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -245,6 +245,10 @@ namespace hpp {
         es.addFailure (reasons_[PROJECTION]);
         return false;
       }
+      if (qProj_.isApprox (*q_near)) {
+	es.addFailure (reasons_[PATH_PROJECTION_ZERO]);
+	return false;
+      }
       HPP_STOP_TIMECOUNTER (applyConstraints);
       core::PathPtr_t path;
       HPP_START_TIMECOUNTER (buildPath);