diff --git a/etc/doxygen/pages/Overview.dox b/etc/doxygen/pages/Overview.dox
index 0674f2b8497ba3c52106cab461f8ab5323062de4..5d192fd313e53f9b56eff0aea5693b818baff3b8 100644
--- a/etc/doxygen/pages/Overview.dox
+++ b/etc/doxygen/pages/Overview.dox
@@ -32,6 +32,14 @@ Datatypes are available for positions, orientations, directions and poses.
 \par
 \link RobotAPI-FramedPose Read more \endlink
 
+\par Remote Robot State
+The ArmarX Robot State is the global pose and joint configuration of a robot and is used for coordinate frame transformations.
+These Transformations between coordinate frames are essential everyday operations in a robotics framework.
+ArmarX offers several ways to cope with the different requirements of coordinate transformations.
+
+\par
+\link RobotAPI-RemoteRobot-Overview Read more \endlink
+
 \par Interfaces
 RobotAPI provides robot-independent interface definitions that are implemented and used by components in other ArmarX packages.
 Important interfaces in RobotAPI for instance provide access to the kinematic robot state, different sensor modalities, inverse kinematics computations or the robot visualization.
diff --git a/etc/doxygen/pages/RemoteRobot.dox b/etc/doxygen/pages/RemoteRobot.dox
new file mode 100644
index 0000000000000000000000000000000000000000..a49038c746e1cfbcd4cada7852254a1f686191db
--- /dev/null
+++ b/etc/doxygen/pages/RemoteRobot.dox
@@ -0,0 +1,7 @@
+/**
+\page RobotAPI-RemoteRobot-Overview Remote Robot State
+
+Due to the distributed and asynchronous nature of ArmarX these transformations need to be considered with caution.
+The sensor data is measured asynchronously and usually in a different process that the robot state itself.
+
+*/