diff --git a/CMakeLists.txt b/CMakeLists.txt
index f3f91d5a49bedc2e7760d4d0c19b5a5f3a71647b..2d7932bd735a3656f8a439fec3b0510d8f34a8d8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,7 +52,7 @@ ADD_OPTIONAL_DEPENDENCY("hrp2-dynamics >= 1.1.0")
 # Add aggressive optimization flags in release mode.
 IF(CMAKE_COMPILER_IS_GNUCXX)
   SET (CMAKE_CXX_FLAGS_RELEASE
-    "-O2 -DNDEBUG")
+    "-O3 -DNDEBUG")
 ENDIF(CMAKE_COMPILER_IS_GNUCXX)
 
 #IF(CMAKE_COMPILER_IS_GNUCXX)