diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index c30bfdb063a7a01368047e2e17c68421148a1123..0ab897d7df74739d7cd7921a6cf0f81a1c25a8e2 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -25,7 +25,7 @@ namespace armarx
         ScopedLock lock(accessMutex);
 
         usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
-        usingProxy("RobotStateComponent");
+        usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
         usingTopic(getProperty<std::string>("RobotStateTopicName").getValue());
 
 
@@ -43,7 +43,8 @@ namespace armarx
         drawer = getTopic<DebugDrawerInterfacePrx>("DebugDrawerUpdates");
 
         kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(getProperty<std::string>("KinematicUnitName").getValue());
-        robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>("RobotStateComponent");
+        robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>(getProperty<std::string>("RobotStateComponentName").getValue());
+
 
         //remoteRobotPrx = robotStateComponentPrx->getSynchronizedRobot();
         localRobot = RemoteRobot::createLocalClone(robotStateComponentPrx);
diff --git a/source/RobotAPI/components/units/HeadIKUnit.h b/source/RobotAPI/components/units/HeadIKUnit.h
index 0a1917fa38800f1e3034c73471098fcac6b7d5c5..6deff5a7add3ea52ae1bc09721a4e421c316df2d 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.h
+++ b/source/RobotAPI/components/units/HeadIKUnit.h
@@ -49,6 +49,7 @@ namespace armarx
             defineRequiredProperty<std::string>("KinematicUnitName", "Name of the KinematicUnit Proxy");
             defineOptionalProperty<std::string>("RobotStateTopicName", "RobotState", "Name of the RobotComponent State topic.");
             defineOptionalProperty<std::string>("HeadIKUnitTopicName", "HeadIKUnitTopic",  "Name of the HeadIKUnit Topic");
+            defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");
             defineOptionalProperty<int>("CycleTime", 30, "Cycle time of the tcp control in ms");
         }
     };
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 7f7a2da918488dc013d014064ef57031f5d41f4f..0ab4790e9bf6e6227448594bb17da2ef7f4e0e2d 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -54,7 +54,7 @@ namespace armarx
     {
         topicName = getName() + "State";
         usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
-        usingProxy("RobotStateComponent");
+        usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
         usingProxy("DebugObserver");
         offeringTopic(topicName);
         usingTopic(getProperty<std::string>("RobotStateTopicName").getValue());
@@ -70,7 +70,8 @@ namespace armarx
 
         debugObs  = getProxy<DebugObserverInterfacePrx>("DebugObserver");
         kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(getProperty<std::string>("KinematicUnitName").getValue());
-        robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>("RobotStateComponent");
+        robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>(getProperty<std::string>("RobotStateComponentName").getValue());
+
 
         //remoteRobotPrx = robotStateComponentPrx->getSynchronizedRobot();
 
@@ -180,7 +181,7 @@ namespace armarx
 
     void TCPControlUnit::setTCPVelocity(const std::string& nodeSetName, const std::string& tcpName, const FramedDirectionBasePtr& translationVelocity, const FramedDirectionBasePtr& orientationVelocityRPY, const Ice::Current& c)
     {
-        if(!isRequested())
+        if (!isRequested())
         {
             ARMARX_WARNING << "Implicitly requesting TCPControlUnit! Please call request before setting TCPVelocities!";
             request();
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index efb111ea2271f83edb524471f36a520aefa31f51..7611446f35eb6ab1057d8268aebece3cdcf4f75f 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -52,6 +52,7 @@ namespace armarx
             defineOptionalProperty<int>("CycleTime", 30, "Cycle time of the tcp control in ms");
             defineOptionalProperty<float>("MaximumCommandDelay", 20000, "Delay after which the TCP Control unit releases itself if no new velocity have been set.");
             defineOptionalProperty<std::string>("TCPsToReport", "", "comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none");
+            defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");
 
 
         }
diff --git a/source/RobotAPI/interface/speech/SpeechInterface.ice b/source/RobotAPI/interface/speech/SpeechInterface.ice
index cbdba5932b0eefdbd184479b02640a191cf6a8e4..ea06c3caa6885958d266e07d53c624a2cfe741f0 100644
--- a/source/RobotAPI/interface/speech/SpeechInterface.ice
+++ b/source/RobotAPI/interface/speech/SpeechInterface.ice
@@ -81,7 +81,9 @@ module armarx
          * \param text Text.
          * \param string vector params.
          */
-        //void reportTextWithParams(string text,Ice::StringSeq params);
+
+         void reportTextWithParams(string text,Ice::StringSeq params);
+
     };
 
     enum FeedbackType
diff --git a/source/RobotAPI/libraries/core/RobotStatechartContext.cpp b/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
index 7713be5cda5ee55e4f0a6153efe54d3f66116950..6e4988445a86ee0a2e42efc1ddcc4da2600d3609 100644
--- a/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
+++ b/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
@@ -41,7 +41,7 @@ namespace armarx
         kinematicUnitObserverName = getProperty<std::string>("KinematicUnitObserverName").getValue();
 
         usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
-        usingProxy("RobotStateComponent");
+        usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
         usingProxy(kinematicUnitObserverName);
 
         if (!getProperty<std::string>("HandUnits").getValue().empty())
@@ -74,7 +74,7 @@ namespace armarx
         ARMARX_LOG << eINFO << "Starting RobotStatechartContext" << flush;
 
         // retrieve proxies
-        std::string rbStateName = "RobotStateComponent";
+        std::string rbStateName = getProperty<std::string>("RobotStateComponentName").getValue();
         robotStateComponent = getProxy<RobotStateComponentInterfacePrx>(rbStateName);
         std::string kinUnitName = getProperty<std::string>("KinematicUnitName").getValue();
         kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(kinUnitName);
diff --git a/source/RobotAPI/libraries/core/RobotStatechartContext.h b/source/RobotAPI/libraries/core/RobotStatechartContext.h
index 81cbdf2529b1d6ee3c5ef7e3c5acb0240c855c38..369ca866585f90f75be4b603df7d148b197cf6d2 100644
--- a/source/RobotAPI/libraries/core/RobotStatechartContext.h
+++ b/source/RobotAPI/libraries/core/RobotStatechartContext.h
@@ -55,6 +55,8 @@ namespace armarx
             defineOptionalProperty<std::string>("HandUnits", "", "Name of the comma-seperated hand units that should be used. Unitname for left hand should be LeftHandUnit, and for right hand RightHandUnit");
             defineOptionalProperty<std::string>("HeadIKUnitName", "", "Name of the head unit that should be used.");
             defineOptionalProperty<std::string>("HeadIKKinematicChainName", "", "Name of the kinematic chain that should be used for head IK.");
+            defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");
+
         }
     };