diff --git a/CMakeLists.txt b/CMakeLists.txt
index 54210d8..7f4602e 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,13 +1,24 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 2.8.2)
 project(UnitreeMotorA1B1)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")
 
-include_directories(
-    /home/$ENV{USER}/unitree_actuator_sdk/include/
-)
+include_directories(include)
+link_directories(lib)
 
-link_directories(
-    lib/
-)
+set(BITNESS 32)
+if(CMAKE_SIZEOF_VOID_P EQUAL 8)
+    set(BITNESS 64)
+endif()
+
+if(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "aarch64") 
+    IF(BITNESS EQUAL 64)
+        set(EXTRA_LIBS libunitreeMotorSDK_Arm64.so)
+    ELSEIF(BITNESS EQUAL 32)
+        set(EXTRA_LIBS libunitreeMotorSDK_Arm32.so)
+    ENDIF()
+else()
+    set(EXTRA_LIBS libunitreeMotorSDK_Linux64.so)
+endif()
 
 add_executable(motorctrl example/main.cpp)
-target_link_libraries(motorctrl libunitreeMotorSDK_Linux64.so)
\ No newline at end of file
+target_link_libraries(motorctrl ${EXTRA_LIBS})
\ No newline at end of file
diff --git a/lib/libunitreeMotorSDK_Arm32.so b/lib/libunitreeMotorSDK_Arm32.so
old mode 100644
new mode 100755
diff --git a/lib/libunitreeMotorSDK_Arm64.so b/lib/libunitreeMotorSDK_Arm64.so
old mode 100644
new mode 100755