diff --git a/.azure-pipelines/azure-pipelines-osx.yml b/.azure-pipelines/azure-pipelines-osx.yml
index 9e4e167..8032e96 100755
--- a/.azure-pipelines/azure-pipelines-osx.yml
+++ b/.azure-pipelines/azure-pipelines-osx.yml
@@ -11,6 +11,9 @@ jobs:
       osx_64_:
         CONFIG: osx_64_
         UPLOAD_PACKAGES: 'True'
+      osx_arm64_:
+        CONFIG: osx_arm64_
+        UPLOAD_PACKAGES: 'True'
   timeoutInMinutes: 360
 
   steps:
diff --git a/.ci_support/osx_arm64_.yaml b/.ci_support/osx_arm64_.yaml
new file mode 100644
index 0000000..1394298
--- /dev/null
+++ b/.ci_support/osx_arm64_.yaml
@@ -0,0 +1,40 @@
+MACOSX_DEPLOYMENT_TARGET:
+- '11.0'
+c_compiler:
+- clang
+c_compiler_version:
+- '15'
+channel_sources:
+- conda-forge
+channel_targets:
+- conda-forge main
+cxx_compiler:
+- clangxx
+cxx_compiler_version:
+- '15'
+fmt:
+- '9'
+libopencv:
+- 4.7.0
+libosqp:
+- 0.6.3
+macos_machine:
+- arm64-apple-darwin20.0.0
+pin_run_as_build:
+  python:
+    min_pin: x.x
+    max_pin: x.x
+pybind11_abi:
+- '4'
+python:
+- 3.10.* *_cpython
+- 3.11.* *_cpython
+- 3.8.* *_cpython
+- 3.9.* *_cpython
+spdlog:
+- '1.11'
+target_platform:
+- osx-arm64
+zip_keys:
+- - c_compiler_version
+  - cxx_compiler_version
diff --git a/.scripts/build_steps.sh b/.scripts/build_steps.sh
index bdf1740..7454806 100755
--- a/.scripts/build_steps.sh
+++ b/.scripts/build_steps.sh
@@ -53,6 +53,9 @@ source run_conda_forge_build_setup
 # make the build number clobber
 make_build_number "${FEEDSTOCK_ROOT}" "${RECIPE_ROOT}" "${CONFIG_FILE}"
 
+if [[ "${HOST_PLATFORM}" != "${BUILD_PLATFORM}" ]] && [[ "${HOST_PLATFORM}" != linux-* ]] && [[ "${BUILD_WITH_CONDA_DEBUG:-0}" != 1 ]]; then
+    EXTRA_CB_OPTIONS="${EXTRA_CB_OPTIONS:-} --no-test"
+fi
 
 
 ( endgroup "Configuring conda" ) 2> /dev/null
diff --git a/.scripts/run_osx_build.sh b/.scripts/run_osx_build.sh
index f169576..bb00584 100755
--- a/.scripts/run_osx_build.sh
+++ b/.scripts/run_osx_build.sh
@@ -55,6 +55,10 @@ source run_conda_forge_build_setup
 echo -e "\n\nMaking the build clobber file"
 make_build_number ./ ./recipe ./.ci_support/${CONFIG}.yaml
 
+if [[ "${HOST_PLATFORM}" != "${BUILD_PLATFORM}" ]]; then
+    EXTRA_CB_OPTIONS="${EXTRA_CB_OPTIONS:-} --no-test"
+fi
+
 
 if [[ -f LICENSE.txt ]]; then
   cp LICENSE.txt "recipe/recipe-scripts-license.txt"
diff --git a/README.md b/README.md
index a7031cf..ddb0a2e 100644
--- a/README.md
+++ b/README.md
@@ -40,6 +40,13 @@ Current build status
                   <img src="https://dev.azure.com/conda-forge/feedstock-builds/_apis/build/status/bipedal-locomotion-framework-feedstock?branchName=main&jobName=osx&configuration=osx%20osx_64_" alt="variant">
                 </a>
               </td>
+            </tr><tr>
+              <td>osx_arm64</td>
+              <td>
+                <a href="https://dev.azure.com/conda-forge/feedstock-builds/_build/latest?definitionId=17781&branchName=main">
+                  <img src="https://dev.azure.com/conda-forge/feedstock-builds/_apis/build/status/bipedal-locomotion-framework-feedstock?branchName=main&jobName=osx&configuration=osx%20osx_arm64_" alt="variant">
+                </a>
+              </td>
             </tr><tr>
               <td>win_64</td>
               <td>
diff --git a/conda-forge.yml b/conda-forge.yml
index 993de48..abb5b1f 100644
--- a/conda-forge.yml
+++ b/conda-forge.yml
@@ -1,6 +1,9 @@
+build_platform:
+  osx_arm64: osx_64
+conda_build:
+  pkg_format: '2'
+conda_forge_output_validation: true
 github:
   branch_name: main
   tooling_branch_name: main
-conda_forge_output_validation: true
-conda_build:
-  pkg_format: '2'
+test: native_and_emulated
diff --git a/recipe/build_cxx.sh b/recipe/build_cxx.sh
index 658f18f..f826acf 100755
--- a/recipe/build_cxx.sh
+++ b/recipe/build_cxx.sh
@@ -5,6 +5,10 @@ if [[ "${target_platform}" == osx-* ]]; then
     CXXFLAGS="${CXXFLAGS} -D_LIBCPP_DISABLE_AVAILABILITY"
 fi
 
+if [[ "${CONDA_BUILD_CROSS_COMPILATION}" == "1" ]]; then
+  export CMAKE_ARGS="${CMAKE_ARGS} -DYARPIDL_thrift_LOCATION=$BUILD_PREFIX/bin/yarpidl_thrift -DYARPIDL_rosmsg_LOCATION=$BUILD_PREFIX/bin/yarpidl_rosmsg"
+fi
+
 rm -rf build
 mkdir -p build
 
@@ -31,5 +35,7 @@ cat CMakeCache.txt
 cmake --build . --config Release
 cmake --build . --config Release --target install
 
-# QPInverseKinematicsUnitTests excluded as a workaround for https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/issues/29
-ctest --output-on-failure -E QPInverseKinematicsUnitTests  -C Release
+if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" != "1" || "${CROSSCOMPILING_EMULATOR:-}" != "" ]]; then
+  # QPInverseKinematicsUnitTests excluded as a workaround for https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/issues/29
+  ctest --output-on-failure -E QPInverseKinematicsUnitTests  -C Release
+fi
diff --git a/recipe/build_py.sh b/recipe/build_py.sh
index 2439526..592509f 100644
--- a/recipe/build_py.sh
+++ b/recipe/build_py.sh
@@ -22,7 +22,9 @@ cmake ${CMAKE_ARGS} -GNinja .. \
 ninja -v
 cmake --build . --config Release --target install
 
-# Tests are not installed, so we run them during the build
-# We run them directly via pytest so we detect if we are not compiling some required components
-cd ..
-pytest -v -k "not (test_load_from_file or test_fixed_foot_detector)"
+if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" != "1" || "${CROSSCOMPILING_EMULATOR:-}" != "" ]]; then
+  # Tests are not installed, so we run them during the build
+  # We run them directly via pytest so we detect if we are not compiling some required components
+  cd ..
+  pytest -v -k "not (test_load_from_file or test_fixed_foot_detector)"
+fi
diff --git a/recipe/meta.yaml b/recipe/meta.yaml
index a826214..1171a5b 100644
--- a/recipe/meta.yaml
+++ b/recipe/meta.yaml
@@ -36,6 +36,8 @@ outputs:
         - {{ cdt('libxdamage') }}  # [linux]
         - {{ cdt('libxxf86vm') }}  # [linux]
         - {{ cdt('libxext') }}     # [linux]
+        # YARP idl tools are used in this recipe
+        - yarp-cxx  # [build_platform != target_platform]
       host:
         - eigen
         - idyntree