diff --git a/ps-config/restaurant/restaurant.conf b/ps-config/restaurant/restaurant.conf
index 056bbca0a523ed3187118fee4f5a7f07bfc8f5d1..e503799a4d9626645d1f01952cc4000ae64e3370 100644
--- a/ps-config/restaurant/restaurant.conf
+++ b/ps-config/restaurant/restaurant.conf
@@ -1,42 +1,41 @@
 [main]
-startdb=47;
-uttdb=52;
+startdb=43;
+uttdb=47;
 silence=400;
 timeout=8;
 openDeviceDirectly=yes;
 
 [pocketsphinxinstance]
 name=confirm;
-hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+jsgf=../../psGrammar/confirm/confirm.jsgf;
 rsbscope=/speechrec/psa/confirm;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=ordering;
-hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/restaurant/ordering.jsgf;
+jsgf=../../psGrammar/restaurant/order.jsgf;
 rsbscope=/speechrec/psa/ordering;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=saveCommand;
-hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/restaurant/saveCommand.jsgf;
-rsbscope=/speechrec/psa/saveCommand;
+jsgf=../../psGrammar/restaurant/saveTable.jsgf;
+rsbscope=/speechrec/psa/saveTable;
 bestpath=no;
 autoload=yes;
 
 [pocketsphinxinstance]
 name=otherCommand;
-hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
-dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
-jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/restaurant/otherCommand.jsgf;
-rsbscope=/speechrec/psa/otherCommand;
+jsgf=../../psGrammar/restaurant/commands.jsgf;
+rsbscope=/speechrec/psa/commands;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=controlExecution;
+jsgf=../../psGrammar/commands/controlExecution.jsgf;
+rsbscope=/speechrec/psa/controlExecution;
 bestpath=no;
 autoload=yes;
diff --git a/ps-config/restaurant/restaurantOLD.conf b/ps-config/restaurant/restaurantOLD.conf
new file mode 100644
index 0000000000000000000000000000000000000000..056bbca0a523ed3187118fee4f5a7f07bfc8f5d1
--- /dev/null
+++ b/ps-config/restaurant/restaurantOLD.conf
@@ -0,0 +1,42 @@
+[main]
+startdb=47;
+uttdb=52;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+
+[pocketsphinxinstance]
+name=confirm;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=ordering;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/restaurant/ordering.jsgf;
+rsbscope=/speechrec/psa/ordering;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=saveCommand;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/restaurant/saveCommand.jsgf;
+rsbscope=/speechrec/psa/saveCommand;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=otherCommand;
+hmm=/vol/robocup/2014/share/pocketsphinx/model/hmm/en_US/hub4wsj_sc_8k;
+dict=/vol/robocup/2014/share/SpeechRec/psGrammar/dictionary/tobiDic.dic;
+jsgf=/vol/robocup/2014/share/SpeechRec/psGrammar/restaurant/otherCommand.jsgf;
+rsbscope=/speechrec/psa/otherCommand;
+bestpath=no;
+autoload=yes;
diff --git a/ps-grammar/restaurant/commands.jsgf b/ps-grammar/restaurant/commands.jsgf
new file mode 100644
index 0000000000000000000000000000000000000000..a6fb53eb41f2eb62fdf709b7161fcd9462069a58
--- /dev/null
+++ b/ps-grammar/restaurant/commands.jsgf
@@ -0,0 +1,6 @@
+#JSGF V1.0;
+grammar restaurant_save_command;
+
+public <restaurant> = [tobi] [please] (<followMe> | <stop>);
+<followMe> = (follow me) | (come [(with me) | here]) | (keep up);
+<stop> = stop [this];
diff --git a/ps-grammar/restaurant/order.jsgf b/ps-grammar/restaurant/order.jsgf
new file mode 100644
index 0000000000000000000000000000000000000000..855787cbf4aa42c1ee203cc61cb40db5de3b008c
--- /dev/null
+++ b/ps-grammar/restaurant/order.jsgf
@@ -0,0 +1,13 @@
+#JSGF V1.0;
+grammar restaurant_ordering;
+
+public <restaurant> = [tobi] [please] bring <objects> to <deliveryLocations>;
+
+<deliveryLocations> = table <numberOfTable>;
+
+<numberOfTable> = one | two | three;
+
+<objects> = <drinks> | <snacks>;
+
+<drinks> = (orange juice) | beer | cola | (chocolate milk) | (energy drink) | (grape juice) | milk | water;
+<snacks> = (chocolate cookies) | chips | biscuits | bread | pringles | (strawberry cookies);
diff --git a/ps-grammar/restaurant/saveTable.jsgf b/ps-grammar/restaurant/saveTable.jsgf
new file mode 100644
index 0000000000000000000000000000000000000000..aa2877b215ec832890d176ea4bb11458fbb9e47f
--- /dev/null
+++ b/ps-grammar/restaurant/saveTable.jsgf
@@ -0,0 +1,11 @@
+#JSGF V1.0;
+grammar restaurant_save_command;
+
+public <restaurant> = [tobi] [please] save ( <deliveryLocations> | <kitchenCategory> ) [[to | on] [the | my]] ( <savePlaceLeft> | <savePlaceRight> | <savePlaceFront> | <savePlaceBack> );
+<savePlaceFront> = front;
+<savePlaceBack> = back;
+<savePlaceLeft> = left;
+<savePlaceRight> = right;
+<deliveryLocations> = table <numberOfTable>;
+<numberOfTable> = one | two | three;
+<kitchenCategory> = kitchen | bar;
\ No newline at end of file