diff --git a/cmake/Buildosqp-matlab.cmake b/cmake/Buildosqp-matlab.cmake
new file mode 100644
index 000000000..63a1e03e0
--- /dev/null
+++ b/cmake/Buildosqp-matlab.cmake
@@ -0,0 +1,21 @@
+# Copyright (C) Fondazione Istituto Italiano di Tecnologia
+# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+find_or_build_package(osqp QUIET)
+
+ycm_ep_helper(osqp-matlab TYPE GIT
+              STYLE GITHUB
+              REPOSITORY dic-iit/osqp-matlab-cmake-buildsystem.git
+              TAG main
+              COMPONENT dynamics
+              FOLDER src
+              CMAKE_ARGS -DOSQP_MATLAB_USES_MATLAB:BOOL=${ROBOTOLOGY_USES_MATLAB}
+              DEPENDS osqp)
+
+# Metadata for conda package generation 
+# If we do not set the package name, by default the repo name would be used
+# so in this case osqp-matlab-cmake-buildsystem that is not descriptive of the
+# generated artifact that is contained in the conda package
+set(osqp-matlab_CONDA_PKG_NAME "osqp-matlab")
diff --git a/cmake/RobotologySuperbuildLogic.cmake b/cmake/RobotologySuperbuildLogic.cmake
index 81ee59fda..fe603a252 100644
--- a/cmake/RobotologySuperbuildLogic.cmake
+++ b/cmake/RobotologySuperbuildLogic.cmake
@@ -45,6 +45,9 @@ if(ROBOTOLOGY_ENABLE_DYNAMICS)
   find_or_build_package(whole-body-controllers)
   find_or_build_package(matio-cpp)
   find_or_build_package(bipedal-locomotion-framework)
+  if(ROBOTOLOGY_USES_MATLAB)
+    find_or_build_package(osqp-matlab)
+  endif()
 endif()
 
 # Teleoperation
diff --git a/releases/2021.02.yaml b/releases/2021.02.yaml
index d4a11d3ba..e2ec8fb86 100644
--- a/releases/2021.02.yaml
+++ b/releases/2021.02.yaml
@@ -183,3 +183,4 @@ repositories:
     type: git
     url: https://github.com/robotology/diagnostic-daemon.git
     version: v1.0.0
+
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 8d922bd4d..1e0d3bf0a 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -179,3 +179,8 @@ repositories:
     type: git
     url: https://github.com/robotology/diagnostic-daemon.git
     version: v1.0.0
+  osqp-matlab:
+    type: git
+    url: https://github.com/dic-iit/osqp-matlab-cmake-buildsystem.git
+    version: v0.6.2.0
+