diff --git a/.travis.yml b/.travis.yml
index 0c63783191ee8f694833a9aa46b1e49938a39af6..133164d2d40cad724e6d8997681285d73304259d 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -8,6 +8,7 @@ after_success:
 branches:
   only:
   - master
+  - topic/sot-pinocchio
 compiler:
 - clang
 - gcc
diff --git a/.travis/build b/.travis/build
index 734fce7577178464df453f69f438ccbc3545107a..d6499092dc3d26b6a7fa810f8b834321aae52375 100755
--- a/.travis/build
+++ b/.travis/build
@@ -31,11 +31,19 @@ install_dependency()
     make install
 }
 
+install_pinocchio_devel()
+{
+    echo "--> Compiling stack-of-tasks/pinocchio"
+    mkdir -p "$build_dir/stack-of-tasks/pinocchio"
+    cd "$build_dir"
+    $git_clone -b devel git://github.com/stack-of-tasks/pinocchio stack-of-tasks/pinocchio
+    cd "$build_dir/stack-of-tasks/pinocchio"
+    cmake . -DCMAKE_INSTALL_PREFIX:STRING="$install_dir"
+    make install
+}
+
 # Retrieve jrl-mathtools
-install_dependency jrl-umi3218/jrl-mathtools
-install_dependency jrl-umi3218/jrl-mal
-install_dependency laas/abstract-robot-dynamics
-install_dependency jrl-umi3218/jrl-dynamics
+install_pinocchio_devel
 install_dependency proyan/dynamic-graph
 install_dependency proyan/dynamic-graph-python
 install_dependency proyan/sot-core