diff --git a/CMakeLists.txt b/CMakeLists.txt
index c8d991d59..a5f358bde 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -303,6 +303,8 @@ if(UNIX)
     set(OPENRTM_IDL_DIR "${OPENRTM_DIR}/include/openrtm-1.1/rtm/idl")
   elseif(OPENRTM_VERSION STREQUAL OPENRTM_VERSION120 OR OPENRTM_VERSION STREQUAL OPENRTM_VERSION121 OR OPENRTM_VERSION STREQUAL OPENRTM_VERSION122)
     set(OPENRTM_IDL_DIR "${OPENRTM_DIR}/include/openrtm-1.2/rtm/idl")
+  elseif(OPENRTM_VERSION STREQUAL OPENRTM_VERSION202)
+    set(OPENRTM_IDL_DIR "${OPENRTM_DIR}/include/openrtm-2.0/rtm/idl")
   else()
     set(OPENRTM_IDL_DIR "${OPENRTM_DIR}/include/rtm/idl")
   endif()
diff --git a/cmake_modules/FindOpenRTM.cmake b/cmake_modules/FindOpenRTM.cmake
index da8be52e6..23aadb038 100644
--- a/cmake_modules/FindOpenRTM.cmake
+++ b/cmake_modules/FindOpenRTM.cmake
@@ -12,6 +12,7 @@ set(OPENRTM_VERSION112 "1.1.2")
 set(OPENRTM_VERSION120 "1.2.0")
 set(OPENRTM_VERSION121 "1.2.1")
 set(OPENRTM_VERSION122 "1.2.2")
+set(OPENRTM_VERSION202 "2.0.2")
 set(OPENRTM_PKG_CONFIG_FOUND FALSE)
 #Additional threshold OpenRTM versions switching processing 
 set(OPENRTM_DEFAULT_VERSION ${OPENRTM_VERSION100})
@@ -19,13 +20,13 @@ set(OPENRTM_DEFAULT_VERSION ${OPENRTM_VERSION100})
 if(UNIX)
   if(OPENRTM_DIR)
     string(REGEX REPLACE "/$" "" OPENRTM_DIR ${OPENRTM_DIR})
-    set(OPENRTM_CONFIG_EXECUTABLE ${OPENRTM_DIR}/bin/rtm-config)
+    set(OPENRTM_CONFIG_EXECUTABLE ${OPENRTM_DIR}/bin/rtm2-config)
     if(NOT EXISTS ${OPENRTM_CONFIG_EXECUTABLE})
       set(OPENRTM_CONFIG_EXECUTABLE)
-      message(FATAL_ERROR "rtm-config was not found in ${OPENRTM_DIR}/bin. Please set OPENRTM_DIR correctly.")
+      message(FATAL_ERROR "rtm2-config was not found in ${OPENRTM_DIR}/bin. Please set OPENRTM_DIR correctly.")
     endif()
   else()
-    find_program(OPENRTM_CONFIG_EXECUTABLE rtm-config DOC "The location of the rtm-config script")
+    find_program(OPENRTM_CONFIG_EXECUTABLE rtm2-config DOC "The location of the rtm2-config script")
     mark_as_advanced(OPENRTM_CONFIG_EXECUTABLE)  
   endif()
 
@@ -58,6 +59,10 @@ if(UNIX)
 	  list(APPEND OPENRTM_INCLUDE_DIRS "${OPENRTM_DIR}/include/openrtm-1.2/rtm/idl")
 	  list(APPEND OPENRTM_INCLUDE_DIRS "${OPENRTM_DIR}/include/openrtm-1.2")
 	  list(APPEND OPENRTM_INCLUDE_DIRS "${OPENRTM_DIR}/include/coil-1.2")
+	elseif(OPENRTM_VERSION STREQUAL OPENRTM_VERSION202)
+	  list(APPEND OPENRTM_INCLUDE_DIRS "${OPENRTM_DIR}/include/openrtm-2.0/rtm/idl")
+	  list(APPEND OPENRTM_INCLUDE_DIRS "${OPENRTM_DIR}/include/openrtm-2.0")
+	  list(APPEND OPENRTM_INCLUDE_DIRS "${OPENRTM_DIR}/include/coil-2.0")
         else()
           list(APPEND OPENRTM_INCLUDE_DIRS "${OPENRTM_DIR}/include/rtm/idl")
           list(APPEND OPENRTM_INCLUDE_DIRS "${OPENRTM_DIR}/include")
diff --git a/hrplib/hrpCorba/CMakeLists.txt b/hrplib/hrpCorba/CMakeLists.txt
index bab5787e3..7f8bd7a36 100644
--- a/hrplib/hrpCorba/CMakeLists.txt
+++ b/hrplib/hrpCorba/CMakeLists.txt
@@ -84,7 +84,7 @@ set(given_headers ORBwrap.h)
 
 install(FILES ${given_headers} ${idl_h_files} DESTINATION ${RELATIVE_HEADERS_INSTALL_PATH}/hrpCorba)
 execute_process(
-  COMMAND python -c "import sys; print('%s.%s'%(sys.version_info[0:2]))"
+  COMMAND python3 -c "import sys; print('%s.%s'%(sys.version_info[0:2]))"
   OUTPUT_VARIABLE python_version
   OUTPUT_STRIP_TRAILING_WHITESPACE)
 
diff --git a/hrplib/hrpModel/BodyCustomizerInterface.cpp b/hrplib/hrpModel/BodyCustomizerInterface.cpp
index 19b3207f2..ea482c8d1 100644
--- a/hrplib/hrpModel/BodyCustomizerInterface.cpp
+++ b/hrplib/hrpModel/BodyCustomizerInterface.cpp
@@ -61,7 +61,7 @@ namespace {
     NameToInterfaceMap customizerRepository;
     bool pluginLoadingFunctionsCalled = false;
 
-    inline string toNativePathString(const filesystem::path& path) {
+    inline string toNativePathString(const boost::filesystem::path& path) {
 #if (BOOST_VERSION <= 103301)
         return path.native_file_string();
 #elif (BOOST_VERSION < 104600)
@@ -175,21 +175,21 @@ int hrp::loadBodyCustomizers(const std::string pathString, BodyInterface* bodyIn
         }
     }
 #elif (BOOST_VERSION >= 105000)
-    filesystem::path pluginPath(pathString, (void *)filesystem::native);
+    boost::filesystem::path pluginPath(pathString, (void *)boost::filesystem::native);
 	
-    if(filesystem::exists(pluginPath)){
+    if(boost::filesystem::exists(pluginPath)){
 
-        if(!filesystem::is_directory(pluginPath)){
+        if(!boost::filesystem::is_directory(pluginPath)){
             if(loadCustomizerDll(bodyInterface, toNativePathString(pluginPath))){
                 numLoaded++;
             }
         } else {
             regex pluginNamePattern(string(".+Customizer") + DLLSFX);
-            filesystem::directory_iterator end;
+	    boost::filesystem::directory_iterator end;
 			
-            for(filesystem::directory_iterator it(pluginPath); it != end; ++it){
-                const filesystem::path& filepath = *it;
-                if(!filesystem::is_directory(filepath)){
+            for(boost::filesystem::directory_iterator it(pluginPath); it != end; ++it){
+	        const boost::filesystem::path& filepath = *it;
+                if(!boost::filesystem::is_directory(filepath)){
                     if(regex_match(filepath.filename().string(), pluginNamePattern)){
                         if(loadCustomizerDll(bodyInterface, toNativePathString(filepath))){
                             numLoaded++;
@@ -262,8 +262,8 @@ int hrp::loadBodyCustomizers(BodyInterface* bodyInterface)
 #ifndef _WIN32
         Dl_info info;
         if(dladdr((void*)&hrp::findBodyCustomizer, &info)){
-            filesystem::path customizerPath =
-                filesystem::path(info.dli_fname).branch_path().branch_path() / OPENHRP_RELATIVE_SHARE_DIR / "customizer";
+	    boost::filesystem::path customizerPath =
+	        boost::filesystem::path(info.dli_fname).branch_path().branch_path() / OPENHRP_RELATIVE_SHARE_DIR / "customizer";
             numLoaded += loadBodyCustomizers(customizerPath.string(), bodyInterface);
         }
 #else
diff --git a/hrplib/hrpRTM/SimulationExecutionContext.cpp b/hrplib/hrpRTM/SimulationExecutionContext.cpp
index 3a45b72e6..2743bd6eb 100644
--- a/hrplib/hrpRTM/SimulationExecutionContext.cpp
+++ b/hrplib/hrpRTM/SimulationExecutionContext.cpp
@@ -6,7 +6,7 @@
 
 namespace RTC
 {
-  ReturnCode_t SimulationExecutionContext::start() throw (CORBA::SystemException)
+  ReturnCode_t SimulationExecutionContext::start()
   {
 
     ReturnCode_t ret = OpenHRPExecutionContext::start();
@@ -19,7 +19,7 @@ namespace RTC
   }
 
 
-  ReturnCode_t SimulationExecutionContext::stop() throw (CORBA::SystemException)
+  ReturnCode_t SimulationExecutionContext::stop()
   {
 #if (defined(OPENRTM_VERSION042) || defined(OPENRTM_VERSION110)) && !defined(OPENRTM_VERSION_TRUNK)
     if (!m_running) return RTC::PRECONDITION_NOT_MET;
diff --git a/hrplib/hrpRTM/SimulationExecutionContext.h b/hrplib/hrpRTM/SimulationExecutionContext.h
index b5741fec0..d1fc66af1 100644
--- a/hrplib/hrpRTM/SimulationExecutionContext.h
+++ b/hrplib/hrpRTM/SimulationExecutionContext.h
@@ -11,8 +11,8 @@ namespace RTC
   class SimulationExecutionContext : public virtual OpenHRPExecutionContext
   {
   public:
-    virtual ReturnCode_t start() throw (CORBA::SystemException);
-    virtual ReturnCode_t stop() throw (CORBA::SystemException);
+    virtual ReturnCode_t start();
+    virtual ReturnCode_t stop();
     static OpenHRP::ClockGenerator_var m_cg;
   };
 };
diff --git a/hrplib/hrpUtil/UrlUtil.cpp b/hrplib/hrpUtil/UrlUtil.cpp
index c1ef34de8..82f0d61d6 100644
--- a/hrplib/hrpUtil/UrlUtil.cpp
+++ b/hrplib/hrpUtil/UrlUtil.cpp
@@ -69,12 +69,12 @@ void hrp::getPathFromUrl(string& refUrl, const string& rootDir, string srcUrl)
             }
         }
 #elif (BOOST_VERSION >= 105000)
-        filesystem::path filepath( deleteURLScheme(srcUrl), (void *)filesystem::native);
+	boost::filesystem::path filepath( deleteURLScheme(srcUrl), (void *)boost::filesystem::native);
         if(exists(filepath)){    // 元が絶対パス //
-            refUrl = filesystem::system_complete(filepath).string();
+            refUrl = boost::filesystem::system_complete(filepath).string();
         }else{               // 元が相対パス //
-            filesystem::path filepath(rootDir + deleteURLScheme(srcUrl), (void *)filesystem::native);
-            if(filesystem::exists(filepath)){
+	    boost::filesystem::path filepath(rootDir + deleteURLScheme(srcUrl), (void *)boost::filesystem::native);
+            if(boost::filesystem::exists(filepath)){
                 refUrl = system_complete(filepath).string();
             }
         }
diff --git a/hrplib/hrpUtil/VrmlParser.cpp b/hrplib/hrpUtil/VrmlParser.cpp
index 55c71b6e0..0dec4f434 100644
--- a/hrplib/hrpUtil/VrmlParser.cpp
+++ b/hrplib/hrpUtil/VrmlParser.cpp
@@ -468,7 +468,7 @@ void VrmlParser::load(const string& filename)
 
 void VrmlParserImpl::load(const string& filename)
 {
-    filesystem::path localPath(filename);
+    boost::filesystem::path localPath(filename);
     localPath.normalize();
 
 #if (BOOST_VERSION < 104600)
@@ -764,17 +764,17 @@ VrmlNodePtr VrmlParserImpl::readInlineNode(VrmlNodeCategory nodeCategory)
 
 VrmlNodePtr VrmlParserImpl::newInlineSource(string& io_filename)
 {
-    filesystem::path localPath;
+    boost::filesystem::path localPath;
     string chkFile("");
     if( isFileProtocol( io_filename ) )
     {
-        localPath = filesystem::path( deleteURLScheme(io_filename) );
+        localPath = boost::filesystem::path( deleteURLScheme(io_filename) );
 
         localPath.normalize();
         // Relative path check & translate to absolute path 
         if ( ! exists(localPath) ){
 
-            filesystem::path parentPath( scanner->filename );
+	  boost::filesystem::path parentPath( scanner->filename );
 #if BOOST_VERSION < 103600
             localPath = parentPath.branch_path() / localPath;
 #else
diff --git a/server/ControllerBridge/BridgeConf.cpp b/server/ControllerBridge/BridgeConf.cpp
index d62c0ad55..3b1de55b1 100644
--- a/server/ControllerBridge/BridgeConf.cpp
+++ b/server/ControllerBridge/BridgeConf.cpp
@@ -178,7 +178,7 @@ void BridgeConf::parseOptions()
     vector<string> values = vmap["module"].as<vector<string> >();
     for(size_t i=0; i < values.size(); ++i){
       string modulePath( values[i] );
-      if( filesystem::extension(filesystem::path( modulePath )).empty() )
+      if( boost::filesystem::extension(boost::filesystem::path( modulePath )).empty() )
       {
         modulePath += string( SUFFIX_SHARED_EXT );
       }
@@ -326,7 +326,7 @@ void BridgeConf::addModuleInfo(const std::string& value)
   } else {
     ModuleInfo info;
     info.fileName = parameters[0];
-    info.componentName = filesystem::basename(filesystem::path(info.fileName));
+    info.componentName = boost::filesystem::basename(boost::filesystem::path(info.fileName));
     if(parameters.size() == 1){
       info.initFuncName = info.componentName + "Init";
     } else {
diff --git a/server/ModelLoader/ModelLoader_impl.cpp b/server/ModelLoader/ModelLoader_impl.cpp
index 55f2ff5a9..12bd9d311 100644
--- a/server/ModelLoader/ModelLoader_impl.cpp
+++ b/server/ModelLoader/ModelLoader_impl.cpp
@@ -157,7 +157,6 @@ static void changetoBoundingBox(POA_OpenHRP::BodyInfo* bodyInfo, unsigned int* d
 }
 
 BodyInfo_ptr ModelLoader_impl::loadBodyInfo(const char* url)
-    throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException)
 {
     OpenHRP::ModelLoader::ModelLoadOption option;
     option.readImage = false;
@@ -168,7 +167,6 @@ BodyInfo_ptr ModelLoader_impl::loadBodyInfo(const char* url)
 }
 
 BodyInfo_ptr ModelLoader_impl::loadBodyInfoEx(const char* url, const OpenHRP::ModelLoader::ModelLoadOption& option)
-    throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException)
 {
     POA_OpenHRP::BodyInfo* bodyInfo = loadBodyInfoFromModelFile(replaceProjectDir(std::string(url)), option);
     if(option.AABBdata.length()){
@@ -184,7 +182,6 @@ BodyInfo_ptr ModelLoader_impl::loadBodyInfoEx(const char* url, const OpenHRP::Mo
 }
 
 BodyInfo_ptr ModelLoader_impl::getBodyInfoEx(const char* url0, const OpenHRP::ModelLoader::ModelLoadOption& option)
-    throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException)
 {
     string url(url0);
 
@@ -217,7 +214,6 @@ BodyInfo_ptr ModelLoader_impl::getBodyInfoEx(const char* url0, const OpenHRP::Mo
 }
 
 BodyInfo_ptr ModelLoader_impl::getBodyInfo(const char* url)
-    throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException)
 {
     OpenHRP::ModelLoader::ModelLoadOption option;
     option.readImage = false;
@@ -282,7 +278,6 @@ POA_OpenHRP::BodyInfo* ModelLoader_impl::loadBodyInfoFromModelFile(const string
 
 
 SceneInfo_ptr ModelLoader_impl::loadSceneInfo(const char* url)
-    throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException)
 {
     cout << "loading " << url << endl;
 
diff --git a/server/ModelLoader/ModelLoader_impl.h b/server/ModelLoader/ModelLoader_impl.h
index 84067fd0f..34460654c 100644
--- a/server/ModelLoader/ModelLoader_impl.h
+++ b/server/ModelLoader/ModelLoader_impl.h
@@ -44,20 +44,15 @@ class ModelLoader_impl : public POA_OpenHRP::ModelLoader
 		
     virtual PortableServer::POA_ptr _default_POA();
 		
-    virtual BodyInfo_ptr getBodyInfo(const char* url)
-        throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
+    virtual BodyInfo_ptr getBodyInfo(const char* url);
 
-    virtual BodyInfo_ptr getBodyInfoEx(const char* url, const OpenHRP::ModelLoader::ModelLoadOption& option )
-        throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
+    virtual BodyInfo_ptr getBodyInfoEx(const char* url, const OpenHRP::ModelLoader::ModelLoadOption& option );
 
-    virtual BodyInfo_ptr loadBodyInfo(const char* url)
-        throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
+    virtual BodyInfo_ptr loadBodyInfo(const char* url);
 
-    virtual BodyInfo_ptr loadBodyInfoEx(const char* url, const OpenHRP::ModelLoader::ModelLoadOption& option)
-        throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
+    virtual BodyInfo_ptr loadBodyInfoEx(const char* url, const OpenHRP::ModelLoader::ModelLoadOption& option);
 
-    virtual SceneInfo_ptr loadSceneInfo(const char* url)
-        throw (CORBA::SystemException, OpenHRP::ModelLoader::ModelLoaderException);
+    virtual SceneInfo_ptr loadSceneInfo(const char* url);
 		
     virtual void clearData();