diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index a239cc6dad99553d9c230030191a3bcd3027b9ce..1a71185624e585728632dda618947c4af1f7662d 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -47,7 +47,7 @@ class Hrp2(AbstractHumanoidRobot):
         specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
         jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
 
-        self.dynamic = DynamicHrp2(self.name + '_dynamics')
+        self.dynamic = DynamicHrp2(self.name + '_dynamic')
         self.dynamic.setFiles(modelDir, modelName,
                                   specificitiesPath, jointRankPath)
         self.dynamic.parse()