diff --git a/cmake/Buildicub-firmware-build.cmake b/cmake/Buildicub-firmware-build.cmake
new file mode 100644
index 000000000..6bda70408
--- /dev/null
+++ b/cmake/Buildicub-firmware-build.cmake
@@ -0,0 +1,21 @@
+# SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
+
+include(YCMEPHelper)
+include(FindOrBuildPackage)
+
+# The SHALLOW TRUE option in ycm_ep_helper translates to GIT_SHALLOW
+# passed to ExternalProject_Add, that only works for branches and tags
+# if you need to set icub-firmware-build_TAG to a commit hash, then also set
+# icub-firmware-build_SHALLOW to FALSE, to override the SHALLOW TRUE option
+ycm_ep_helper(icub-firmware-build TYPE GIT
+              STYLE GITHUB
+              REPOSITORY robotology/icub-firmware-build.git
+              COMPONENT iCub
+              FOLDER src
+              SHALLOW TRUE)
+
+# We want to make sure that the conda package is called icub-firmware,
+# as it is the output of the robotology/icub-firmware repo, the
+# icub-firmware-build repo is just a place where binaries are hosted
+set(icub-firmware-build_CONDA_PKG_NAME icub-firmware)
diff --git a/cmake/RobotologySuperbuildLogic.cmake b/cmake/RobotologySuperbuildLogic.cmake
index ca77e182d..c8148a612 100644
--- a/cmake/RobotologySuperbuildLogic.cmake
+++ b/cmake/RobotologySuperbuildLogic.cmake
@@ -145,6 +145,7 @@ endif()
 if(ROBOTOLOGY_ENABLE_ICUB_HEAD)
   find_or_build_package(icub_firmware_shared)
   find_or_build_package(ICUB)
+  find_or_build_package(icub-firmware-build)
   if(NOT APPLE AND NOT ROBOTOLOGY_CONFIGURING_UNDER_CONDA)
     find_or_build_package(diagnosticdaemon)
   endif()