diff --git a/CMakeLists.txt b/CMakeLists.txt
index c40508ae64..eb2986717f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,7 +6,7 @@ cmake_minimum_required(VERSION 3.12...3.28)
 
 set(ROOT_PROJECT_NAME ICUB)
 project(${ROOT_PROJECT_NAME} LANGUAGES C CXX
-                             VERSION 2.7.1)
+                             VERSION 2.7.2)
 
 set(CMAKE_CXX_EXTENSIONS OFF)
 set(CMAKE_CXX_STANDARD 14)
diff --git a/conf/iCubFindDependencies.cmake b/conf/iCubFindDependencies.cmake
index 6574b4d13f..6e879a841d 100644
--- a/conf/iCubFindDependencies.cmake
+++ b/conf/iCubFindDependencies.cmake
@@ -64,7 +64,7 @@ checkandset_dependency(IPOPT)
 checkandset_dependency(OpenCV)
 checkandset_dependency(Qt5)
 
-set(MINIMUM_REQUIRED_icub_firmware_shared_VERSION 1.41.0)
+set(MINIMUM_REQUIRED_icub_firmware_shared_VERSION 1.41.1)
 
 if(icub_firmware_shared_FOUND AND ICUB_USE_icub_firmware_shared)
   if(icub_firmware_shared_VERSION VERSION_LESS ${MINIMUM_REQUIRED_icub_firmware_shared_VERSION})