diff --git a/src/dynamic_graph/sot/dynamics/hrp2.py.in b/src/dynamic_graph/sot/dynamics/hrp2.py.in
index 77ae8437f9a6e9a6b266ac3d9f14257da168a819..4bc56bd928922924b68b1b0ea2feae04a780c50a 100755
--- a/src/dynamic_graph/sot/dynamics/hrp2.py.in
+++ b/src/dynamic_graph/sot/dynamics/hrp2.py.in
@@ -46,7 +46,7 @@ class Hrp2(AbstractHumanoidRobot):
         specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
         jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
 
-        self.dynamic = DynamicHrp2(self.name + '.dynamics')
+        self.dynamic = DynamicHrp2(self.name + '_dynamics')
         self.dynamic.setFiles(modelDir, modelName,
                                   specificitiesPath, jointRankPath)
         self.dynamic.parse()
diff --git a/src/dynamic_graph/sot/dynamics/humanoid_robot.py b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
index 58768256ee54632288acdef3c4727a0aee6f8087..03c376d26c81d960678809a9a202fb6e7ca926b3 100755
--- a/src/dynamic_graph/sot/dynamics/humanoid_robot.py
+++ b/src/dynamic_graph/sot/dynamics/humanoid_robot.py
@@ -180,7 +180,7 @@ class AbstractHumanoidRobot (object):
         plug(self.dynamic.Jcom,
              self.featureCom.jacobianIN)
         self.featureCom.selec.value = '011'
-        self.featureComDes = FeatureGeneric(self.name + '.feature_ref_com')
+        self.featureComDes = FeatureGeneric(self.name + '_feature_ref_com')
         self.featureComDes.errorIN.value = self.dynamic.com.value
         self.featureCom.sdes.value = self.featureComDes
         self.comTask = Task(self.name + '_task_com')