diff --git a/CMakeLists.txt b/CMakeLists.txt
index bb7677af43..5ee416fffe 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,7 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 # Define here the needed parameters
 set (OPENRAVE_VERSION_MAJOR 0)
 set (OPENRAVE_VERSION_MINOR 167)
-set (OPENRAVE_VERSION_PATCH 12)
+set (OPENRAVE_VERSION_PATCH 13)
 set (OPENRAVE_VERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR}.${OPENRAVE_VERSION_PATCH})
 set (OPENRAVE_SOVERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR})
 message(STATUS "Compiling OpenRAVE Version ${OPENRAVE_VERSION}, soversion=${OPENRAVE_SOVERSION}")
diff --git a/docs/source/changelog.rst b/docs/source/changelog.rst
index 9f7d18410f..69d7864d60 100644
--- a/docs/source/changelog.rst
+++ b/docs/source/changelog.rst
@@ -3,6 +3,11 @@
 ChangeLog
 #########
 
+Version 0.167.13
+===============
+
+- Fix potential bad memory access at `polyroots` function.
+
 Version 0.167.12
 ===============
 
diff --git a/include/openrave/mathextra.h b/include/openrave/mathextra.h
index badf6e79cc..9e1cd50bdc 100644
--- a/include/openrave/mathextra.h
+++ b/include/openrave/mathextra.h
@@ -1219,6 +1219,8 @@ template <typename IKReal, int D>
 inline void polyroots(const IKReal* rawcoeffs, IKReal* rawroots, int& numroots)
 {
     using std::complex;
+    static_assert(D > 1, "D should be greater than 1. Solve linear equation to handle D==1 case");  // this function accesses roots[1]
+
     BOOST_ASSERT(rawcoeffs[0] != 0);
     const IKReal tol = 128.0*std::numeric_limits<IKReal>::epsilon();
     const IKReal tolsqrt = sqrt(std::numeric_limits<IKReal>::epsilon());
@@ -1466,7 +1468,9 @@ inline bool computequinticnextdiscretizedstep(const T* coeffs, const T step, con
         polyroots<T, 2>(&tempcoeffs[3], rawroots, numroots);
     }
     else if( tempcoeffs[4] != 0 ) {
-        polyroots<T, 1>(&tempcoeffs[4], rawroots, numroots);
+        // polyroots<T, 1>(&tempcoeffs[4], rawroots, numroots);  // out-of-bound memory access
+        numroots = 1;
+        rawroots[0] = -tempcoeffs[5]/tempcoeffs[4];
     }
     bool bFound = false;
     for( int i = 0; i < numroots; ++i ) {
@@ -1512,7 +1516,7 @@ inline bool computecubicnextdiscretizedstep(const T* coeffs, const T step, const
         polyroots<T, 2>(&tempcoeffs[1], rawroots, numroots);
     }
     else if( tempcoeffs[2] != 0 ) {
-        // polyroots<T, 1>(&tempcoeffs[2], rawroots, numroots);
+        // polyroots<T, 1>(&tempcoeffs[2], rawroots, numroots);  // out-of-bound memory access
         numroots = 1;
         rawroots[0] = -tempcoeffs[3]/tempcoeffs[2];
     }
diff --git a/src/libopenrave/planningutils.cpp b/src/libopenrave/planningutils.cpp
index c47ef4e7b0..50a9db799c 100644
--- a/src/libopenrave/planningutils.cpp
+++ b/src/libopenrave/planningutils.cpp
@@ -4166,7 +4166,9 @@ int DynamicsCollisionConstraint::Check(const std::vector<dReal>& q0, const std::
                             mathextra::polyroots<dReal, 2>(&_vrawcoeffs[1], &_vrawroots[0], numroots);
                         }
                         else if( _vrawcoeffs[2] != 0 ) {
-                            mathextra::polyroots<dReal, 1>(&_vrawcoeffs[2], &_vrawroots[0], numroots);
+                            // mathextra::polyroots<dReal, 1>(&_vrawcoeffs[2], &_vrawroots[0], numroots);  // out-of-bound memory access
+                            numroots = 1;
+                            _vrawroots[0] = -_vrawcoeffs[3]/_vrawcoeffs[2];
                         }
                         break;
                     case IT_Quintic:
@@ -4186,7 +4188,9 @@ int DynamicsCollisionConstraint::Check(const std::vector<dReal>& q0, const std::
                             mathextra::polyroots<dReal, 2>(&_vrawcoeffs[3], &_vrawroots[0], numroots);
                         }
                         else if( _vrawcoeffs[4] != 0 ) {
-                            mathextra::polyroots<dReal, 1>(&_vrawcoeffs[4], &_vrawroots[0], numroots);
+                            // mathextra::polyroots<dReal, 1>(&_vrawcoeffs[4], &_vrawroots[0], numroots);  // out-of-bound memory access
+                            numroots = 1;
+                            _vrawroots[0] = -_vrawcoeffs[5]/_vrawcoeffs[4];
                         }
                         break;
                     default: