diff --git a/CMakeLists.txt b/CMakeLists.txt
index f598ac6c377b58fd6fb5979369046bdcedc22cf8..8784ec68e1b863d7e11c6e78c46a3e4f65e531a4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -50,6 +50,7 @@ SET(libs
 	task-dyn-pd
 	dynamic-integrator
 	solver-op-space
+	solver-kine
 	zmp-estimator
 	pseudo-robot-dynamic
 	robot-dyn-simu
@@ -70,6 +71,8 @@ SET(headers
 	task-dyn-pd.h
 	dynamic-integrator.h
 	solver-op-space.h
+	solver-kine.h
+
 	zmp-estimator.h
 	pseudo-robot-dynamic.h
 	robot-dyn-simu.h
diff --git a/src/dynamic_graph/sot/dyninv/__init__.py b/src/dynamic_graph/sot/dyninv/__init__.py
index 7d781f68f41ca141c314bb577897e04a87a9aa70..a979b84dd235fd9fbd4d1165bb8b05d1df768d27 100755
--- a/src/dynamic_graph/sot/dyninv/__init__.py
+++ b/src/dynamic_graph/sot/dyninv/__init__.py
@@ -13,6 +13,9 @@ PseudoRobotDynamic('')
 from solver_op_space import SolverOpSpace
 SolverOpSpace('')
 
+from solver_kine import SolverKine
+SolverKine('')
+
 from zmp_estimator import ZmpEstimator
 ZmpEstimator('')
 
diff --git a/src/solver-op-space.cpp b/src/solver-op-space.cpp
index 22d8bdcee7cbb7596741d5aa5fcad474babebe36..cb62568b55e761227daa408982acdbe48a7b6955 100644
--- a/src/solver-op-space.cpp
+++ b/src/solver-op-space.cpp
@@ -71,7 +71,7 @@ namespace dynamicgraph
 	,CONSTRUCT_SIGNAL_IN(breakFactor,double)
 	,CONSTRUCT_SIGNAL_OUT(control,ml::Vector,
 			      matrixInertiaSIN << dyndriftSIN
-			      << velocitySIN << controlSOUT)
+			      << velocitySIN )
 	,CONSTRUCT_SIGNAL(zmp,OUT,ml::Vector)
 	,CONSTRUCT_SIGNAL(acceleration,OUT,ml::Vector)