diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
index 0ccd7836f79902f2cabe4021d8e89adeda37c606..6b31222ef1e726cbe7de04b32f0e708a3d057bc0 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.h
@@ -63,7 +63,7 @@ public:
 };
 
 /*!
- * \class DebugDrawerComponent
+ * \defgroup Component-DebugDrawerComponent DebugDrawerComponent
  * \ingroup RobotAPI-Components
  * \brief Visualizes debug information.
  *
@@ -94,6 +94,11 @@ public:
     }
 \endcode
  */
+
+/**
+ * @brief The DebugDrawerComponent class
+ * @ingroup Component-DebugDrawerComponent
+ */
 class DebugDrawerComponent :
         virtual public armarx::DebugDrawerInterface,
         virtual public Component
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h
index e3c8db3ea6b38a78b4ce81b6abfe8ace93f5538e..6e74c02c23ab540f26c7c318a131b0f78e38584a 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.h
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h
@@ -56,7 +56,7 @@ namespace armarx
 
 
     /**
-     * \class RobotStateComponent
+     * \defgroup Component-RobotStateComponent RobotStateComponent
      * \ingroup RobotAPI-Components
      * \brief Maintains a robot representation based on VirtualRobot (see [Simox](http://simox.sourceforge.net/)).
      *
@@ -71,6 +71,11 @@ namespace armarx
      * to calculate on the same values.
      * See \ref armarx::RemoteRobot "RemoteRobot" for more details and the usage of this component.
      */
+
+    /**
+     * @brief The RobotStateComponent class
+     * @ingroup Component-RobotStateComponent
+     */
     class ARMARXCOMPONENT_IMPORT_EXPORT RobotStateComponent :
         virtual public Component,
         virtual public RobotStateComponentInterface
diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.h b/source/RobotAPI/components/RobotState/SharedRobotServants.h
index cff51585f49e312ce5034a8881dec38ba4705fdf..ba01ebe81ef083154b73f054396f66fa3199dae9 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.h
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.h
@@ -41,10 +41,10 @@ namespace armarx {
 
     /**
      * @brief The SharedRobotNodeServant class is a remote represenation of a Simox VirtualRobot::Robot
-     *
+     * @ingroup Component-RobotStateComponent
      * @details This class is used only internally by the the RobotStateComponent. Other classes such as the LinkedPose, RemoteRobot,
      * TCPControlUnit and HeadIKUnit classes address this class by the SharedRobotNodeInterface and SharedRobotNodeInterfacePrx generated by
-     * ICE.
+     * Ice.
      */
     class SharedRobotNodeServant :
         virtual public SharedRobotNodeInterface,
@@ -81,6 +81,7 @@ namespace armarx {
     };
 
     /**
+     * @ingroup Component-RobotStateComponent
      * @brief The SharedRobotNodeServant class is a remote represenation of a Simox VirtualRobot::Robot
      *
      * @details This class is used only internally by the the RobotStateComponent. The RemoteRobot class SharedRobotInterface and SharedRobotInterfacePrx
diff --git a/source/RobotAPI/components/units/ForceTorqueUnit.h b/source/RobotAPI/components/units/ForceTorqueUnit.h
index 947a4b60431ec9731130476dd58e65d0a706d670..fbe8b41b701a59f3b468ef7ba05fabebd28ddd18 100644
--- a/source/RobotAPI/components/units/ForceTorqueUnit.h
+++ b/source/RobotAPI/components/units/ForceTorqueUnit.h
@@ -54,7 +54,7 @@ namespace armarx
     };
     
     /**
-     * \class ForceTorqueUnit
+     * \defgroup Component-ForceTorqueUnit ForceTorqueUnit
      * \ingroup RobotAPI-SensorActorUnits
      * \brief Base unit for force/torque sensors.
      *
@@ -63,6 +63,11 @@ namespace armarx
      * RobotAPI contains the ForceTorqueUnitSimulation class that does a very basic simulation of F/T-sensors.
      * Other (hardware related) implementations of this unit can be found in the respective ArmarX projects.
      */
+
+    /**
+     * @ingroup Component-ForceTorqueUnit
+     * @brief The ForceTorqueUnit class
+     */
     class ForceTorqueUnit :
         virtual public ForceTorqueUnitInterface,
         virtual public SensorActorUnit
diff --git a/source/RobotAPI/components/units/HandUnit.h b/source/RobotAPI/components/units/HandUnit.h
index d68c4f5f7f6002ca722ae4a55c2c016f7a528dde..6bc729ddc7442585926aeaeffe4c73cdcbcd6581 100644
--- a/source/RobotAPI/components/units/HandUnit.h
+++ b/source/RobotAPI/components/units/HandUnit.h
@@ -60,7 +60,7 @@ namespace armarx
 
 
     /**
-     * \class HandUnit
+     * @ingroup Component-HandUnit HandUnit
      * \brief Base unit for high-level access to robot hands.
      * \ingroup RobotAPI-SensorActorUnits
      *
@@ -68,6 +68,11 @@ namespace armarx
      * It uses the HandUnitListener Ice interface to report updates of its current state
      *
      */
+
+    /**
+     * @brief The HandUnit class
+     * @ingroup Component-HandUnit
+     */
     class HandUnit :
         virtual public HandUnitInterface,
         virtual public SensorActorUnit
diff --git a/source/RobotAPI/components/units/HapticUnit.h b/source/RobotAPI/components/units/HapticUnit.h
index a5837e80024d9afece25ba2e8334ba81b7a32175..e3aefb2e7eca0579541804d5faad3fc64cc8acf9 100644
--- a/source/RobotAPI/components/units/HapticUnit.h
+++ b/source/RobotAPI/components/units/HapticUnit.h
@@ -49,10 +49,15 @@ namespace armarx
     };
     
     /**
-     * \class HapticUnit
+     * \defgroup Component-HapticUnit HapticUnit
      * \ingroup RobotAPI-SensorActorUnits
      * \brief Base unit for haptic sensors.
      */
+
+    /**
+     * @ingroup Component-HapticUnit
+     * @brief The HapticUnit class
+     */
     class HapticUnit :
         virtual public HapticUnitInterface,
         virtual public SensorActorUnit
diff --git a/source/RobotAPI/components/units/HeadIKUnit.h b/source/RobotAPI/components/units/HeadIKUnit.h
index 0805fd78086eddc33e87e2b5c4bd49e71a112049..2ecd2dbd3c55e0e79a79123ed835f8e74eb416e8 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.h
+++ b/source/RobotAPI/components/units/HeadIKUnit.h
@@ -52,10 +52,15 @@ namespace armarx
     };
 
     /**
-     * \class HeadIKUnit
+     * \defgroup Component-HeadIKUnit HeadIKUnit
      * \ingroup RobotAPI-SensorActorUnits
      * \brief Unit for controlling a robot head via IK targets.
      */
+
+    /**
+     * @ingroup Component-HeadIKUnit
+     * @brief The HeadIKUnit class
+     */
     class HeadIKUnit : virtual public Component, virtual public HeadIKUnitInterface
     {
     public:
diff --git a/source/RobotAPI/components/units/KinematicUnit.h b/source/RobotAPI/components/units/KinematicUnit.h
index a82b5f800bd04f303764fc76bb33e2173657a56c..e91ef47c346be52b73d4ea0dd8aa1487042b2628 100644
--- a/source/RobotAPI/components/units/KinematicUnit.h
+++ b/source/RobotAPI/components/units/KinematicUnit.h
@@ -55,7 +55,7 @@ namespace armarx
 
 
     /**
-     * \class KinematicUnit
+     * \defgroup Component-KinematicUnit KinematicUnit
      * \ingroup RobotAPI-SensorActorUnits
      * \brief Base unit for kinematic sensors and actors.
      *
@@ -65,6 +65,11 @@ namespace armarx
      * The KinematicUnit retrieves its configuration from a VirtualRobot robot model. Within the model, the joints, the unit
      * controls are defined with a RobotNodeSet.
      */
+
+    /**
+     * @ingroup Component-KinematicUnit
+     * @brief The KinematicUnit class
+     */
     class KinematicUnit :
         virtual public KinematicUnitInterface,
         virtual public SensorActorUnit
diff --git a/source/RobotAPI/components/units/PlatformUnit.h b/source/RobotAPI/components/units/PlatformUnit.h
index 1d46043a134842fcb8415ac86d126f828852aa05..8d2b53baa04461d0f856a7cee4faa6c808c00c38 100644
--- a/source/RobotAPI/components/units/PlatformUnit.h
+++ b/source/RobotAPI/components/units/PlatformUnit.h
@@ -51,7 +51,7 @@ namespace armarx
 
 
     /**
-     * \class PlatformUnit
+     * \defgroup Component-PlatformUnit PlatformUnit
      * \ingroup RobotAPI-SensorActorUnits
      * \brief Base unit for high-level access to robot platforms.
      *
@@ -59,6 +59,11 @@ namespace armarx
      * An instance of a PlatformUnit provides means to set target positions.
      * It uses the PlatformUnitListener Ice interface to report updates of its current state.
      */
+
+    /**
+     * @ingroup Component-PlatformUnit
+     * @brief The PlatformUnit class
+     */
     class PlatformUnit :
         virtual public PlatformUnitInterface,
         virtual public SensorActorUnit
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index 6b585979dd667e4b50118375038a421c82c7fd71..d585c73fa6e9f59412fe8c3014825692f52420b9 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -57,7 +57,7 @@ namespace armarx
     };
 
     /**
-     * \class TCPControlUnit
+     * \defgroup Component-TCPControlUnit TCPControlUnit
      * \ingroup RobotAPI-SensorActorUnits
      * \brief Unit for controlling a tool center point (TCP).
      *
@@ -74,6 +74,11 @@ namespace armarx
      *
      * \note After usage release() **must** be called to stop the recalcuation and setting of joint velocities.
      */
+
+    /**
+     * @ingroup Component-TCPControlUnit
+     * @brief The TCPControlUnit class
+     */
     class TCPControlUnit :
             virtual public Component,
             virtual public TCPControlUnitInterface