diff --git a/cMake/FindKDL.cmake b/cMake/FindKDL.cmake
index 65bd9ddf26..0bc567329c 100644
--- a/cMake/FindKDL.cmake
+++ b/cMake/FindKDL.cmake
@@ -12,7 +12,7 @@ IF ( CMAKE_PKGCONFIG_EXECUTABLE )
     
     SET(ENV{PKG_CONFIG_PATH} "${KDL_INSTALL}/lib/pkgconfig/")
     MESSAGE( "Looking for KDL in: ${KDL_INSTALL}")
-    PKGCONFIG( "orocos-kdl >= 0.99" KDL_FOUND KDL_INCLUDE_DIRS KDL_DEFINES KDL_LINK_DIRS KDL_LIBS )
+    PKGCONFIG( "orocos-kdl >= 1.4.0" KDL_FOUND KDL_INCLUDE_DIRS KDL_DEFINES KDL_LINK_DIRS KDL_LIBS )
 
     IF( KDL_FOUND )
         MESSAGE("   Includes in: ${KDL_INCLUDE_DIRS}")
@@ -22,13 +22,10 @@ IF ( CMAKE_PKGCONFIG_EXECUTABLE )
 
 	INCLUDE_DIRECTORIES( ${KDL_INCLUDE_DIRS} )
 	LINK_DIRECTORIES( ${KDL_LINK_DIRS})
-	#OROCOS_PKGCONFIG_INCPATH("${KDLTK_INCLUDE_DIRS}")
-	#OROCOS_PKGCONFIG_LIBS("${KDL_LIBS}")
-	#OROCOS_PKGCONFIG_LIBPATH("${KDL_LINK_DIRS}")
 
 	SET(ENV{PKG_CONFIG_PATH} "${KDL_INSTALL}/lib/pkgconfig/:${OROCOS_INSTALL}/lib/pkgconfig")
 	MESSAGE( "Looking for KDL Toolkit in: ${PKG_CONFIG_PATH}")
-	PKGCONFIG( "orocos-kdltk-${OROCOS_TARGET} >= 0.99" KDLTK_FOUND KDLTK_INCLUDE_DIRS KDLTK_DEFINES KDLTK_LINK_DIRS KDLTK_LIBS )
+	PKGCONFIG( "orocos-kdltk-${OROCOS_TARGET} >= 1.4.0" KDLTK_FOUND KDLTK_INCLUDE_DIRS KDLTK_DEFINES KDLTK_LINK_DIRS KDLTK_LIBS )
 	IF(KDLTK_FOUND)
 	  INCLUDE_DIRECTORIES( ${KDLTK_INCLUDE_DIRS} )
 	  LINK_DIRECTORIES( ${KDLTK_LINK_DIRS})
@@ -38,7 +35,7 @@ IF ( CMAKE_PKGCONFIG_EXECUTABLE )
 	  IF(CORBA_ENABLED)
 	    SET(ENV{PKG_CONFIG_PATH} "${KDL_INSTALL}/lib/pkgconfig/:${OROCOS_INSTALL}/lib/pkgconfig")
 	    MESSAGE("Looking for KDL Toolkit CORBA extension in ${PKG_CONFIG_PATH}")
-	    PKGCONFIG( "orocos-kdltk-corba-${OROCOS_TARGET} >= 0.99" KDLTKCORBA_FOUND KDLTKCORBA_INCLUDE_DIRS KDLTKCORBA_DEFINES KDLTKCORBA_LINK_DIRS KDLTKCORBA_LIBS )
+	    PKGCONFIG( "orocos-kdltk-corba-${OROCOS_TARGET} >= 1.4.0" KDLTKCORBA_FOUND KDLTKCORBA_INCLUDE_DIRS KDLTKCORBA_DEFINES KDLTKCORBA_LINK_DIRS KDLTKCORBA_LIBS )
 	    IF(KDLTKCORBA_FOUND)
 	      INCLUDE_DIRECTORIES( ${KDLTKCORBA_INCLUDE_DIRS} )
 	      LINK_DIRECTORIES( ${KDLTKCORBA_LINK_DIRS})