diff --git a/src/dynamic.cpp b/src/dynamic.cpp
index ba29c7af23f5b7a76f0f1d844928ac65ac10f1d3..37adae297de7cebfa88c5c2d1a72574e0aa0c3db 100644
--- a/src/dynamic.cpp
+++ b/src/dynamic.cpp
@@ -664,6 +664,7 @@ computeJcom( ml::Matrix& Jcom,int time )
   newtonEulerSINTERN(time);
 
   matrixNxP jacobian;
+  jacobian.resize(3, m_HDR->numberDof());
   m_HDR->getJacobianCenterOfMass(*m_HDR->rootJoint(), jacobian);
 
   Jcom.initFromMotherLib(jacobian);