diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2711b158192db..40e6188356306 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -24,7 +24,7 @@ project(dart)
 
 set(DART_MAJOR_VERSION "4")
 set(DART_MINOR_VERSION "3")
-set(DART_PATCH_VERSION "4")
+set(DART_PATCH_VERSION "5")
 set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
 set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
 set(DART_PKG_EXTERNAL_DEPS "flann, ccd, fcl")
diff --git a/Changelog.md b/Changelog.md
index 0751db0a1e59e..4b1ecb63f7eb3 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,4 +1,9 @@
-### Version 4.3.3 (2015-01-24)
+### Version 4.3.5 (2016-01-09)
+
+1. Fixed incorrect applying of joint constraint impulses (backported from 6.0.0)
+    * [Pull request #578](https://github.com/dartsim/dart/pull/578)
+
+### Version 4.3.4 (2015-01-24)
 
 1. Fixed build issue with gtest on Mac
     * [Pull request #315](https://github.com/dartsim/dart/pull/315)
diff --git a/debian/changelog b/debian/changelog
index 0ba3bd9f7301a..2e51442ecc43a 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,3 +1,9 @@
+dart4 (4.3.5) unstable; urgency=medium
+
+  * Fixed incorrect applying of joint constraint impulses (backported from 6.0.0)
+
+ -- Jeongseok Lee <jslee02@gmail.com>  Sat, 9 Jan 2015 12:00:00 -0500
+
 dart (4.3.4) unstable; urgency=low
 
   * Fixed build issue with gtest on Mac
diff --git a/debian/control b/debian/control
index 3382a3b227dac..363bfc910c2d1 100644
--- a/debian/control
+++ b/debian/control
@@ -1,4 +1,4 @@
-Source: dart
+Source: dart4
 Priority: extra
 Maintainer: Jeongseok Lee <jslee02@gmail.com>
 Build-Depends: debhelper (>= 9),
@@ -13,7 +13,7 @@ Build-Depends: debhelper (>= 9),
                libtinyxml-dev,
                libtinyxml2-dev,
                liburdfdom-dev
-Standards-Version: 3.9.5
+Standards-Version: 3.9.6
 Section: libs
 Homepage: http://dartsim.github.io/
 Vcs-Git: git://github.com/dartsim/dart.git
@@ -22,7 +22,7 @@ Vcs-Browser: https://github.com/dartsim/dart
 Package: libdart-core4-dev
 Section: libdevel
 Architecture: any
-Pre-Depends: multiarch-support
+Pre-Depends: ${misc:Pre-Depends}
 Conflicts: libdart-core3-dev
 Depends: ${misc:Depends},
          libdart-core4.3 (= ${binary:Version}),
@@ -56,7 +56,7 @@ Description: Dynamic Animation and Robotics Toolkit, core development files
 Package: libdart4-dev
 Section: libdevel
 Architecture: any
-Pre-Depends: multiarch-support
+Pre-Depends: ${misc:Pre-Depends}
 Depends: ${misc:Depends},
          libdart-core4-dev,
          libdart4.3 (= ${binary:Version}),
@@ -92,7 +92,7 @@ Description: Dynamic Animation and Robotics Toolkit, development files
 Package: libdart-core4.3
 Section: libs
 Architecture: any
-Pre-Depends: multiarch-support
+Pre-Depends: ${misc:Pre-Depends}
 Depends: ${misc:Depends},
          ${shlibs:Depends}
 Description: Dynamic Animation and Robotics Toolkit, core library files
@@ -122,7 +122,7 @@ Description: Dynamic Animation and Robotics Toolkit, core library files
 Package: libdart4.3
 Section: libs
 Architecture: any
-Pre-Depends: multiarch-support
+Pre-Depends: ${misc:Pre-Depends}
 Depends: ${misc:Depends},
          ${shlibs:Depends}
 Description: Dynamic Animation and Robotics Toolkit, library files