diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7883e3c69d586e3016f35bc3d7cccdf334d1fd07..19d6498c21e86f3eb2beeaff748c61a582a631fc 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-# HumanoidRobotAPI
+# RobotAPI
 
 cmake_minimum_required(VERSION 2.8)
 
@@ -10,7 +10,7 @@ find_package("ArmarXCore" REQUIRED
 
 include(${ArmarXCore_CMAKE_DIR}/ArmarXProject.cmake)
 
-armarx_project("HumanoidRobotAPI")
+armarx_project("RobotAPI")
 
 add_subdirectory(source)
 
diff --git a/source/CMakeLists.txt b/source/CMakeLists.txt
index 82feb6142590b59559f191e169e92b0c0e8311df..e4d27c6874f1e04fd2cec70d6f2c68375cf8e946 100644
--- a/source/CMakeLists.txt
+++ b/source/CMakeLists.txt
@@ -1,2 +1,2 @@
-add_subdirectory(HumanoidRobotAPI)
+add_subdirectory(RobotAPI)
 
diff --git a/source/HumanoidRobotAPI/CMakeLists.txt b/source/RobotAPI/CMakeLists.txt
similarity index 100%
rename from source/HumanoidRobotAPI/CMakeLists.txt
rename to source/RobotAPI/CMakeLists.txt
diff --git a/source/HumanoidRobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
similarity index 100%
rename from source/HumanoidRobotAPI/applications/CMakeLists.txt
rename to source/RobotAPI/applications/CMakeLists.txt
diff --git a/source/HumanoidRobotAPI/applications/MotionControlTest/CMakeLists.txt b/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
similarity index 100%
rename from source/HumanoidRobotAPI/applications/MotionControlTest/CMakeLists.txt
rename to source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
diff --git a/source/HumanoidRobotAPI/applications/MotionControlTest/MotionControlTestApp.h b/source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h
similarity index 87%
rename from source/HumanoidRobotAPI/applications/MotionControlTest/MotionControlTestApp.h
rename to source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h
index d8f4cd26191ee9d757da402d07a2301b6b26e354..abac52768b1f277e1da164066332e9f3119d5cbc 100755
--- a/source/HumanoidRobotAPI/applications/MotionControlTest/MotionControlTestApp.h
+++ b/source/RobotAPI/applications/MotionControlTest/MotionControlTestApp.h
@@ -23,7 +23,7 @@
 
 
 #include <Core/core/application/Application.h>
-#include <HumanoidRobotAPI/motioncontrol/MotionControl.h>
+#include <RobotAPI/motioncontrol/MotionControl.h>
 
 namespace armarx
 {
@@ -32,10 +32,10 @@ namespace armarx
 	{
         void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
         {
-            registry->addObject( Component::create<MoveHelpers::MotionControlHandler>(properties) );
-        };
+            registry->addObject( Component::create<MotionControl::MotionControlHandler>(properties) );
+        }
     };
-};
+}
 
 
 
diff --git a/source/HumanoidRobotAPI/core/CMakeLists.txt b/source/RobotAPI/core/CMakeLists.txt
similarity index 100%
rename from source/HumanoidRobotAPI/core/CMakeLists.txt
rename to source/RobotAPI/core/CMakeLists.txt
diff --git a/source/HumanoidRobotAPI/core/RobotStatechartContext.cpp b/source/RobotAPI/core/RobotStatechartContext.cpp
similarity index 100%
rename from source/HumanoidRobotAPI/core/RobotStatechartContext.cpp
rename to source/RobotAPI/core/RobotStatechartContext.cpp
diff --git a/source/HumanoidRobotAPI/core/RobotStatechartContext.h b/source/RobotAPI/core/RobotStatechartContext.h
similarity index 100%
rename from source/HumanoidRobotAPI/core/RobotStatechartContext.h
rename to source/RobotAPI/core/RobotStatechartContext.h
diff --git a/source/HumanoidRobotAPI/motioncontrol/CMakeLists.txt b/source/RobotAPI/motioncontrol/CMakeLists.txt
similarity index 100%
rename from source/HumanoidRobotAPI/motioncontrol/CMakeLists.txt
rename to source/RobotAPI/motioncontrol/CMakeLists.txt
diff --git a/source/HumanoidRobotAPI/motioncontrol/MotionControl.cpp b/source/RobotAPI/motioncontrol/MotionControl.cpp
similarity index 99%
rename from source/HumanoidRobotAPI/motioncontrol/MotionControl.cpp
rename to source/RobotAPI/motioncontrol/MotionControl.cpp
index 27e192fe34e1d0b4dc90d48de0f7a34612cee7c2..649fe4b0db2f23121291b260b9bf88658d4606be 100644
--- a/source/HumanoidRobotAPI/motioncontrol/MotionControl.cpp
+++ b/source/RobotAPI/motioncontrol/MotionControl.cpp
@@ -13,7 +13,7 @@
 #include <Eigen/src/Geometry/Quaternion.h>
 
 using namespace armarx;
-using namespace armarx::MoveHelpers;
+using namespace armarx::MotionControl;
 
 MotionControlHandler::MotionControlHandler()
 {
@@ -648,7 +648,7 @@ void MotionControlTestStateIK::defineSubstates()
 
 
 
-void MoveHelpers::StopRobot::onEnter()
+void MotionControl::StopRobot::onEnter()
 {
     RobotStatechartContext* context = getContext<RobotStatechartContext>();
 
diff --git a/source/HumanoidRobotAPI/motioncontrol/MotionControl.h b/source/RobotAPI/motioncontrol/MotionControl.h
similarity index 81%
rename from source/HumanoidRobotAPI/motioncontrol/MotionControl.h
rename to source/RobotAPI/motioncontrol/MotionControl.h
index 850621e83bc568fa7a764a0183c77afd49e66a20..fb63e94d8bce3765e891790e75891c782ea98b2a 100644
--- a/source/HumanoidRobotAPI/motioncontrol/MotionControl.h
+++ b/source/RobotAPI/motioncontrol/MotionControl.h
@@ -2,43 +2,46 @@
 #define MOTIONCONTROL_H
 
 #include <Core/statechart/Statechart.h>
-#include <HumanoidRobotAPI/core/RobotStatechartContext.h>
+#include <RobotAPI/core/RobotStatechartContext.h>
 
 namespace armarx
 {
 
-namespace MoveHelpers
+namespace MotionControl
 {
 /**
-    \defgroup MoveHelpers ArmarX MoveHelpers
-    \section Overview Overview of the implemented functions in MoveHelpers
-    The following functionality is available in the MoveHelpers:
-    - Direct kinematics: move joints to a desired configuration (armarx::MoveHelpers::MoveJoints)
-    - Velocity control: set the desired velocities for joints (armarx::MoveHelpers::MoveJointsVelocityControl)
-    - Inverse kinematics: move the TCP of a kinematic chain to a desired pose (armarx::MoveHelpers::MoveTCPPoseIK)
-    - Trajectory: move the TCP of a kinematic chain along a trajectory defined by a list of poses (armarx::MoveHelpers::MoveTCPTrajectory)
-    - Stop: stop all motion of the robot (armarx::MoveHelpers::StopRobot)
+    \defgroup MotionControl ArmarX MotionControl
+    \section Overview Overview of the implemented functionality in MotionControl
+    All functionality is implemented with State to provide a convenient interface
+    for the non-instant move functions (States receive events when desired targets
+    are reached).<br/>
+    The following functionality is available in the MotionControl:
+    - Direct kinematics: move joints to a desired configuration (armarx::MotionControl::MoveJoints)
+    - Velocity control: set the desired velocities for joints (armarx::MotionControl::MoveJointsVelocityControl)
+    - Inverse kinematics: move the TCP of a kinematic chain to a desired pose (armarx::MotionControl::MoveTCPPoseIK)
+    - Trajectory: move the TCP of a kinematic chain along a trajectory defined by a list of poses (armarx::MotionControl::MoveTCPTrajectory)
+    - Stop: stop all motion of the robot (armarx::MotionControl::StopRobot)
 
     \section HowTo How to use the states
-    To use one of the Move Helpers state, you have to make it a substate of your own state (see Statechart). To set its parameters,
-    you can either modify the configuration file (${ArmarX_Home}/data/HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml) or map them from you own state to it.
+    To use one of the MotionControl states, you have to make it a substate of your own state (see ArmarXCore::Statechart). To set its parameters,
+    map them from you own state to it. The standard configuration is set in file ${ArmarX_Home}/data/HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml.
 
-    Two kinds of kinematic entities are controlled using the MoveHelpers: single joints and kinematic chains. A kinematic chain is a list of joints
+    Two kinds of kinematic entities are controlled using the MotionControl: single joints and kinematic chains. A kinematic chain is a list of joints
     that usually belong to a part of the robot, e.g. an arm. The joints and the kinematic chains are all defined in the xml files that describe the
-    kinematic model of the robot (data/ArmarIV/RobotModel/ArmarIV.xml and the files for the subparts). Look in these files to find out the name of
+    kinematic model of the robot (e.g. ${ArmarX_Home/data/ArmarIV/RobotModel/ArmarIV.xml and the files for the subparts). Look in these files to find out the name of
     the joint or kinematic chain you want to move.
 
-    \subsection UsingMoveJoints Using armarx::MoveHelpers::MoveJoints
+    \subsection UsingMoveJoints Using armarx::MotionControl::MoveJoints
     This state moves the specified joints to the desired configuration.
     Input parameters:
     - jointNames: the names of the joints to be moved
     - targetJointValues: the desired joint values
     - targetTolerance: tolerance defining how precisely the joint position has to be reached
-    - timeoutInMs: a timout after which the attempt to move is aborted
+    - timeoutInMs: a timeout after which the attempt to move is aborted
     Output parameters:
     - jointDistancesToTargets: the distance of each joint to the desired configuration
 
-    \subsection UsingMoveJointsVelocityControl Using armarx::MoveHelpers::MoveJointsVelocityControl
+    \subsection UsingMoveJointsVelocityControl Using armarx::MotionControl::MoveJointsVelocityControl
     This state moves the specified joints with the desired velocity.
     Input parameters:
     - jointNames: the names of the joints to be moved
@@ -48,7 +51,7 @@ namespace MoveHelpers
     Output parameters:
     - jointVelocitiesDistancesToTargets: the difference between the desired and actual joint velocities
 
-    \subsection UsingMoveTCPPoseIK Using armarx::MoveHelpers::MoveTCPPoseIK
+    \subsection UsingMoveTCPPoseIK Using armarx::MotionControl::MoveTCPPoseIK
     Moves the TCP of the specified kinematic chain to the desired pose if possible.
     Input parameters:
     - kinematicChainName: the name of the kinematic chain that is used
@@ -61,7 +64,7 @@ namespace MoveHelpers
     - TCPDistanceToTarget: kartesian distance between TCP and target position
     - TCPOrientationDistanceToTarget: the difference between desired and actual orientation of the TCP
 
-    \subsection UsingMoveTCPTrajectory Using armarx::MoveHelpers::MoveTCPTrajectory
+    \subsection UsingMoveTCPTrajectory Using armarx::MotionControl::MoveTCPTrajectory
     Moves the TCP of the specified kinematic chain along the defined poses.
     Input parameters:
     - kinematicChainName: the name of the kinematic chain that is used
@@ -74,14 +77,14 @@ namespace MoveHelpers
     - TCPDistanceToTarget: kartesian distance between TCP and target position
     - TCPOrientationDistanceToTarget: the difference between desired and actual orientation of the TCP
 
-    \subsection UsingStopRobot Using armarx::MoveHelpers::StopRobot
+    \subsection UsingStopRobot Using armarx::MotionControl::StopRobot
     Stops all motion of the robot. No parameters.
 
 */
 
     /**
     *  \class MotionControlHandler
-    *  \ingroup MoveHelpers
+    *  \ingroup MotionControl
     *  MotionControlHandler is the remote state interface for the MotionControl-
     *  States. It contains convenience states that allow to move parts of the robot,
     *  i.e. direct and inverse kinematics for arbitrary kinematic chains and predefined
@@ -121,7 +124,7 @@ namespace MoveHelpers
 
 
     /**
-    *  \ingroup MoveHelpers
+    *  \ingroup MotionControl
     *   Move the joints of a kinematic chain to the desired values.
     *   \param jointNames the names of the joints to be moved
     *   \param targetJointValues the desired joint values
@@ -141,7 +144,7 @@ namespace MoveHelpers
 
 
     /**
-    *  \ingroup MoveHelpers
+    *  \ingroup MotionControl
     *   Move the joints of a kinematic chain to the desired values using velocity control.
     *   \param jointNames the names of the joints to be moved
     *   \param targetJointVelocities the desired joint velocities
@@ -160,7 +163,7 @@ namespace MoveHelpers
 
 
     /**
-    *  \ingroup MoveHelpers
+    *  \ingroup MotionControl
     *   Move the TCP to a desired pose.
     *   \param kinematicChainName the name of the kinematic chain that is used
     *   \param targetTCPPosition the target position for the TCP
@@ -185,7 +188,7 @@ namespace MoveHelpers
     DEFINEEVENT(EvLastPointNotYetReached)
 
     /**
-    *  \ingroup MoveHelpers
+    *  \ingroup MotionControl
     *   Move the TCP along a trajectory of poses.
     *   \param kinematicChainName the name of the kinematic chain that is used
     *   \param targetTCPPositions the list of target positions for the TCP
@@ -209,7 +212,7 @@ namespace MoveHelpers
 
 
     /**
-    *  \ingroup MoveHelpers
+    *  \ingroup MotionControl
     * Stop all motion of the robot. It sets all velocities to 0. No Smooth stopping
     * is implemented here.
     */
@@ -273,7 +276,7 @@ namespace MoveHelpers
         void onEnter();
     };
 
-} // namespace MoveHelpers
+} // namespace MotionControl
 
 } // namespace armarx