diff --git a/CHANGELOG.md b/CHANGELOG.md
index 43eb3f76f..67f7e7c92 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,7 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo
 ### Changed
 - On Windows the option `ROBOTOLOGY_USES_ESDCAN` is now enabled when generating conda packages (https://github.com/robotology/robotology-superbuild/pull/935).
 - For the YARP package, the compilation of the `usbCamera` device on Linux is enabled even if `ROBOTOLOGY_ENABLE_ICUB_HEAD` is `OFF` (https://github.com/robotology/robotology-superbuild/pull/989).
+- `walking-controllers` now depends on `bipedal-locomotion-framework`, so it is now compiled if `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS` option is enabled (https://github.com/robotology/robotology-superbuild/pull/1013).
 
 ## [2021.11.1] - 2022-01-05
 
diff --git a/cmake/Buildwalking-controllers.cmake b/cmake/Buildwalking-controllers.cmake
index a86e7d288..b0f3cba1f 100644
--- a/cmake/Buildwalking-controllers.cmake
+++ b/cmake/Buildwalking-controllers.cmake
@@ -12,6 +12,7 @@ find_or_build_package(UnicyclePlanner QUIET)
 find_or_build_package(OsqpEigen QUIET)
 find_or_build_package(qpOASES QUIET)
 find_or_build_package(ICUBcontrib QUIET)
+find_or_build_package(bipedal-locomotion-framework QUIET)
 
 set(walking-controllers_DEPENDS "")
 list(APPEND walking-controllers_DEPENDS YARP)
@@ -21,6 +22,7 @@ list(APPEND walking-controllers_DEPENDS UnicyclePlanner)
 list(APPEND walking-controllers_DEPENDS OsqpEigen)
 list(APPEND walking-controllers_DEPENDS qpOASES)
 list(APPEND walking-controllers_DEPENDS ICUBcontrib)
+list(APPEND walking-controllers_DEPENDS bipedal-locomotion-framework)
 
 ycm_ep_helper(walking-controllers TYPE GIT
               STYLE GITHUB
diff --git a/cmake/RobotologySuperbuildLogic.cmake b/cmake/RobotologySuperbuildLogic.cmake
index 89a993dc0..77d996ade 100644
--- a/cmake/RobotologySuperbuildLogic.cmake
+++ b/cmake/RobotologySuperbuildLogic.cmake
@@ -51,7 +51,6 @@ if(ROBOTOLOGY_ENABLE_DYNAMICS)
   find_or_build_package(osqp)
   find_or_build_package(OsqpEigen)
   find_or_build_package(UnicyclePlanner)
-  find_or_build_package(walking-controllers)
   find_or_build_package(whole-body-estimators)
   find_or_build_package(whole-body-controllers)
   find_or_build_package(matioCpp)
@@ -62,6 +61,7 @@ if(ROBOTOLOGY_ENABLE_DYNAMICS)
   endif()
   if(ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS)
     find_or_build_package(bipedal-locomotion-framework)
+    find_or_build_package(walking-controllers)
     if(ROBOTOLOGY_USES_MATLAB)
       find_or_build_package(casadi-matlab-bindings)
     endif()