diff --git a/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt b/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
index 298dda8befca2b6b934c7ac4cdc9e90ef5dde724..1cbbf8fcf265d65c028be049e9bf361a3ca2ea77 100755
--- a/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
+++ b/source/RobotAPI/applications/MotionControlTest/CMakeLists.txt
@@ -18,7 +18,7 @@ armarx_build_if(ArmarXCoreObservers_ENABLED "ArmarXCoreObservers library disable
 
 
 if (ARMARX_BUILD)
-    set(COMPONENT_LIBS MotionControl HumanoidRobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations)
+    set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations)
 
     set(SOURCES "")
     set(HEADERS MotionControlTestApp.h)
diff --git a/source/RobotAPI/core/CMakeLists.txt b/source/RobotAPI/core/CMakeLists.txt
index 716dd4678938b0d4d8d603c0ddcf58d1eed62807..46101fd75261604bea642256a4890766e21d1056 100755
--- a/source/RobotAPI/core/CMakeLists.txt
+++ b/source/RobotAPI/core/CMakeLists.txt
@@ -1,4 +1,4 @@
-armarx_set_target("HumanoidRobotAPI Core Library: HumanoidRobotAPICore")
+armarx_set_target("RobotAPI Core Library: RobotAPICore")
 
 
 find_package(Eigen3 QUIET)
@@ -11,7 +11,7 @@ if (ARMARX_BUILD)
     include_directories(${Eigen3_INCLUDE_DIR})
     include_directories(${VirtualRobot_INCLUDE_DIRS})
 
-    set(LIB_NAME       HumanoidRobotAPICore)
+    set(LIB_NAME       RobotAPICore)
     set(LIB_VERSION    0.1.0)
     set(LIB_SOVERSION  0)
 
diff --git a/source/RobotAPI/motioncontrol/CMakeLists.txt b/source/RobotAPI/motioncontrol/CMakeLists.txt
index 8a9538c6fd392da3acde3f3b22dd615f53116fe6..42ac0169974334198cf9402bf4a5d8d1a0a01552 100755
--- a/source/RobotAPI/motioncontrol/CMakeLists.txt
+++ b/source/RobotAPI/motioncontrol/CMakeLists.txt
@@ -1,4 +1,4 @@
-armarx_set_target("HumanoidRobotAPI MotionControl Library: MotionControl")
+armarx_set_target("RobotAPI MotionControl Library: MotionControl")
 
 
 find_package(Eigen3 QUIET)
@@ -15,7 +15,7 @@ if (ARMARX_BUILD)
     set(LIB_VERSION    0.1.0)
     set(LIB_SOVERSION  0)
 
-    set(LIBS HumanoidRobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
+    set(LIBS RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
 
     set(LIB_FILES MotionControl.cpp)
     set(LIB_HEADERS MotionControl.h)
diff --git a/source/RobotAPI/motioncontrol/MotionControl.cpp b/source/RobotAPI/motioncontrol/MotionControl.cpp
index 649fe4b0db2f23121291b260b9bf88658d4606be..a93e72721c91fe60eab4a0d2e36d642e188bbd69 100644
--- a/source/RobotAPI/motioncontrol/MotionControl.cpp
+++ b/source/RobotAPI/motioncontrol/MotionControl.cpp
@@ -40,7 +40,7 @@ void MoveJoints::defineParameters()
 {
     context = getContext<RobotStatechartContext>();
 
-    setConfigFile("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml");
+    setConfigFile("RobotAPIConfigs/stateconfigs/MotionControl.xml");
 
     addToInputAsList("jointNames", VariantType::String, false);
     addToInputAsList("targetJointValues", VariantType::Float, false);
@@ -135,7 +135,7 @@ void MoveJointsVelocityControl::defineParameters()
 {
     context = getContext<RobotStatechartContext>();
 
-    setConfigFile("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml");
+    setConfigFile("RobotAPIConfigs/stateconfigs/MotionControl.xml");
 
     addToInputAsList("jointNames", VariantType::String, false);
     addToInputAsList("targetJointVelocities", VariantType::Float, false);
@@ -225,7 +225,7 @@ void MoveTCPPoseIK::defineParameters()
 {
     context = getContext<RobotStatechartContext>();
 
-    setConfigFile("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml");
+    setConfigFile("RobotAPIConfigs/stateconfigs/MotionControl.xml");
 
     addToInput("kinematicChainName", VariantType::String, false);
     addToInput("targetTCPPosition", VariantType::LinkedPosition, false);
@@ -279,7 +279,7 @@ void MoveTCPTrajectory::defineParameters()
 {
     context = getContext<RobotStatechartContext>();
 
-    setConfigFile("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml");
+    setConfigFile("RobotAPIConfigs/stateconfigs/MotionControl.xml");
 
     addToInput("kinematicChainName", VariantType::String, false);
     addToInputAsList("targetTCPPositions", VariantType::LinkedPosition, false);
@@ -575,7 +575,7 @@ void ValidateJointAngleConfiguration::onEnter()
 
 void MotionControlTestState::defineParameters()
 {
-    setConfigFile("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml");
+    setConfigFile("RobotAPIConfigs/stateconfigs/MotionControl.xml");
 
     addToInputAsList("jointNames", VariantType::String, false);
     addToInputAsList("targetJointValues", VariantType::Float, false);
@@ -607,7 +607,7 @@ void MotionControlTestState::defineSubstates()
 
 void MotionControlTestStateIK::defineParameters()
 {
-    setConfigFile("HumanoidRobotAPIConfigs/stateconfigs/MotionControl.xml");
+    setConfigFile("RobotAPIConfigs/stateconfigs/MotionControl.xml");
 
     addToInput("kinematicChainName", VariantType::String, false);
     //addToInput("targetTCPPosition", VariantType::LinkedPosition, false);
diff --git a/source/RobotAPI/motioncontrol/MotionControl.h b/source/RobotAPI/motioncontrol/MotionControl.h
index fb63e94d8bce3765e891790e75891c782ea98b2a..7cd0d1084bca52f90e45fc138089edf949084fb1 100644
--- a/source/RobotAPI/motioncontrol/MotionControl.h
+++ b/source/RobotAPI/motioncontrol/MotionControl.h
@@ -24,7 +24,7 @@ namespace MotionControl
 
     \section HowTo How to use the states
     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.
+    map them from you own state to it. The standard configuration is set in file ${ArmarX_Home}/data/RobotAPIConfigs/stateconfigs/MotionControl.xml.
 
     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