diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
index da4d4d126..d8e1efbad 100644
--- a/sample/CMakeLists.txt
+++ b/sample/CMakeLists.txt
@@ -4,6 +4,22 @@ if(OPENRTM_VERSION STREQUAL OPENRTM_VERSION100 OR OPENRTM_VERSION STREQUAL OPENR
   add_subdirectory(JoystickControl)
 endif()
 
+if( COLLADA_DOM_FOUND )
+  file(GLOB_RECURSE _wrlfiles *.wrl)
+  foreach(_wrlfile ${_wrlfiles})
+    string(REGEX REPLACE ".wrl$" ".dae" _daefile ${_wrlfile})
+    file(STRINGS ${_wrlfile} _robotmodel REGEX "DEF .* Humanoid")
+    if(NOT _robotmodel STREQUAL "")
+      add_custom_command(OUTPUT ${_daefile}
+        COMMAND ../bin/export-collada -i ${_wrlfile} -o ${_daefile}
+        DEPENDS ../bin/export-collada ${_wrlfile})
+      string(REGEX REPLACE "\\." "_" _daefile_target ${_daefile})
+      string(REGEX REPLACE "/" "_" _daefile_target ${_daefile_target})
+      add_custom_target(export_collada_${_daefile_target} ALL DEPENDS ${_daefile})
+    endif()
+  endforeach()
+endif()
+
 install(DIRECTORY model project script
   DESTINATION ${RELATIVE_SAMPLE_INSTALL_PATH}
   PATTERN ".svn" EXCLUDE PATTERN "mockup" EXCLUDE)