diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2b99999d1c5b089468eac18c8ea8f18a211a7cc9..af675dffba22c93b8cfee134da031817e23d55a8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -43,7 +43,7 @@ SET(PKG_CONFIG_ADDITIONAL_VARIABLES
 SETUP_PROJECT()
 # Search for dependencies.
 ADD_REQUIRED_DEPENDENCY("eigenpy")
-ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.2.6")
+ADD_REQUIRED_DEPENDENCY("pinocchio >= 1.3.0")
 ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
 ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
 ADD_REQUIRED_DEPENDENCY("sot-tools >= 2.0.0")
diff --git a/src/sot-dynamic-pinocchio.cpp b/src/sot-dynamic-pinocchio.cpp
index 4aced9a129f4beb096572d8e4e457f0f73dc0051..1d5430a4437fb0d560bb2701568013229969765a 100644
--- a/src/sot-dynamic-pinocchio.cpp
+++ b/src/sot-dynamic-pinocchio.cpp
@@ -29,6 +29,7 @@
 #include <pinocchio/algorithm/center-of-mass.hpp>
 #include <pinocchio/spatial/motion.hpp>
 #include <pinocchio/algorithm/crba.hpp>
+#include <pinocchio/algorithm/centroidal.hpp>
 #include <pinocchio/multibody/model.hpp>
 
 #include <dynamic-graph/all-commands.h>