diff --git a/Finddynamixel.cmake b/Finddynamixel.cmake
index 0a8f5c850eaf2885083b13271c9249c4c8c5be90..ffe38ff85e0bc1c6f814b81aa55e7b0ff369d958 100644
--- a/Finddynamixel.cmake
+++ b/Finddynamixel.cmake
@@ -1,9 +1,9 @@
 #edit the following line to add the librarie's header files
-FIND_PATH(dynamixel_INCLUDE_DIR dynamixel.h dynamixelserver.h dynamixelexceptions.h /usr/include/iridrivers /usr/local/include/iridrivers)
+FIND_PATH(dynamixel_INCLUDE_DIR dynamixel.h dynamixelserver.h dynamixelexceptions.h /usr/include/iri/dynamixel /usr/local/include/iri/dynamixel)
 
 FIND_LIBRARY(dynamixel_LIBRARY
     NAMES dynamixel
-    PATHS /usr/lib/iridrivers /usr/local/lib /usr/local/lib/iridrivers) 
+    PATHS /usr/lib/iri/dynamixel /usr/local/lib /usr/local/lib/iri/dynamixel) 
 
 IF (dynamixel_INCLUDE_DIR AND dynamixel_LIBRARY)
    SET(dynamixel_FOUND TRUE)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 95f8ba91984e0b15d0aab74a43850b534d9bc116..7b4a610d094fd4889cc2622aa4e4bf2620ee63f9 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -31,11 +31,11 @@ ADD_DEPENDENCIES(dynamixel xsd_files_gen)
 
 INSTALL(TARGETS dynamixel
   RUNTIME DESTINATION bin
-  LIBRARY DESTINATION lib/iridrivers
-  ARCHIVE DESTINATION lib/iridrivers
+  LIBRARY DESTINATION lib/iri/${PROJECT_NAME}
+  ARCHIVE DESTINATION lib/iri/${PROJECT_NAME}
 )
 
-INSTALL(FILES ${headers} DESTINATION include/iridrivers)
+INSTALL(FILES ${headers} DESTINATION include/iri/${PROJECT_NAME})
 
 INSTALL(FILES ../Finddynamixel.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
 
diff --git a/src/xml/CMakeLists.txt b/src/xml/CMakeLists.txt
index 44ddee0ec293cadfbd7ff6fee11ed7b3c06aea85..51b80dd3b788c7b9854f45a6ad52274e2882c444 100644
--- a/src/xml/CMakeLists.txt
+++ b/src/xml/CMakeLists.txt
@@ -39,7 +39,7 @@ IF(XSD_FOUND)
          DEPENDS ${XSD_PATH_FILES}
          COMMENT "Parsing the xml template file ${XSD_FILES}")
 
-      INSTALL(FILES ${XSD_PATH_FILES} DESTINATION include/iridrivers/xml)
-      INSTALL(FILES ${XSD_HEADERS_INT} DESTINATION include/iridrivers/xml)
+      INSTALL(FILES ${XSD_PATH_FILES} DESTINATION include/iri/${PROJECT_NAME}/xml)
+      INSTALL(FILES ${XSD_HEADERS_INT} DESTINATION include/iri/${PROJECT_NAME}/xml)
    ENDIF(XSD_FILES)
 ENDIF(XSD_FOUND)