diff --git a/docs/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-arms.md b/docs/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-arms.md
index 95238dd41..755d75d9f 100644
--- a/docs/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-arms.md
+++ b/docs/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-arms.md
@@ -1,5 +1,5 @@
 # **iCub Foward Kinematics - Arms**
----
+
 ## Left
 Here's described how to construct the matrix T_RoLa whose definition is given in [ICubForwardKinematics](./icub-forward-kinematics.md). The matrix is constructed in two steps i.e. T_RoLa = T_Ro0 * T_0n. The first matrix T_Ro0 describes the rigid roto-translation from the root reference frame to points in the 0th reference frame as defined by the [Denavit-Hartenberg convention](./assets/chap3-forward-kinematics.pdf). In this case T_Ro0 is just a rigid rotation which aligns the z-axis with the first joint of the waist. The second matrix T_0n corresponds to the Denavit-Hartenberg description of the forward kinematic, i.e. the roto-translation from the 0th reference frame to the nth reference frame being n the number of degrees of freedom. The forward kinematic in this case includes the waist and the left arm forward kinematics.
 
diff --git a/docs/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-inertial.md b/docs/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-imu.md
similarity index 100%
rename from docs/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-inertial.md
rename to docs/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-imu.md
diff --git a/docs/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics.md b/docs/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics.md
index 0e3e68136..6772059a2 100644
--- a/docs/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics.md
+++ b/docs/icub_kinematics/icub-forward-kinematics/icub-forward-kinematics.md
@@ -46,8 +46,8 @@ The roto-translation which converts a point in one of these reference frames to
 | Left eye V2       | -> | Root            | **T\_RoLe**                   | [ iCub Head Forward Kinematics (left eye) V2](./icub-forward-kinematics-head.md#v2)                                            | [ICubFwdKinNewV2.zip](./assets/ICubFwdKinNewV2.zip)   |
 | Right eye V1      | -> | Root            | **T\_RoRe**                   | [ iCub Head Forward Kinematics (right eye) V1](./icub-forward-kinematics-head.md#v1) | [ICubFwdKinNew.zip](./assets/ICubFwdKinNew.zip)      |
 | Right eye V2      | -> | Root            | **T\_RoRe**                   | [ iCub Head Forward Kinematics (right eye) V2](./icub-forward-kinematics-head.md#v2) | [ICubFwdKinNewV2.zip](./assets/ICubFwdKinNewV2.zip)   |
-| Inertia sensor V1 | -> | Root            | **T\_RoIs**                   | [ iCub Inertial Sensor Forward Kinematics V1](./icub-forward-kinematics-inertial.md#v1)                                            | [ICubFwdKinNew.zip](./assets/ICubFwdKinNew.zip)      |
-| Inertia sensor V2 | -> | Root            | **T\_RoIs**                   | [ iCub Inertial Sensor Forward Kinematics V2](./icub-forward-kinematics-inertial.md#v2)                                            | [ICubFwdKinNewV2.zip](./assets/ICubFwdKinNewV2.zip)   |
+| Inertia sensor V1 | -> | Root            | **T\_RoIs**                   | [ iCub Inertial Sensor Forward Kinematics V1](./icub-forward-kinematics-imu.md#v1)                                            | [ICubFwdKinNew.zip](./assets/ICubFwdKinNew.zip)      |
+| Inertia sensor V2 | -> | Root            | **T\_RoIs**                   | [ iCub Inertial Sensor Forward Kinematics V2](./icub-forward-kinematics-imu.md#v2)                                            | [ICubFwdKinNewV2.zip](./assets/ICubFwdKinNewV2.zip)   |
 
 
 Each of these matrices is constructed with two steps. The first consists in a rigid roto-translation from the points in the root reference frame to points in the 0th reference frame as defined by the Denavit-Hartenberg convention. The second step corresponds to the Denavit-Hartenberg description of the forward kinematic, i.e. the roto-translation from the 0th reference frame to the nth reference frame being n the number of degrees of freedom.
diff --git a/mkdocs.yml b/mkdocs.yml
index 8f1acf56b..6a7f7e8f2 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -105,11 +105,11 @@ nav:
         - iCub Model naming conventions: icub_kinematics/icub-model-naming-conventions/icub-model-naming-conventions.md
         - Vergence, Version and Disparity: icub_kinematics/icub-vergence-version/icub-vergence-version.md
         - iCub FW Kinematics: icub_kinematics/icub-forward-kinematics/icub-forward-kinematics.md
-        - iCub FW Kinematics Arms:  icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-arms.md
-        - iCub FW Kinematics Fingers:  icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-fingers.md
-        - iCub FW Kinematics Head:  icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-head.md
-        - iCub FW Kinematics Legs:  icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-legs.md
-        - iCub FW Kinematics Inertial:  icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-inertial.md
+        - iCub FW Kinematics Arms: icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-arms.md
+        - iCub FW Kinematics Fingers: icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-fingers.md
+        - iCub FW Kinematics Head: icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-head.md
+        - iCub FW Kinematics Legs: icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-legs.md
+        - iCub FW Kinematics IMU: icub_kinematics/icub-forward-kinematics/icub-forward-kinematics-imu.md
       - iCub 3:
         - iCub 3 joints specs: icub3/icub3-joints.md
       - iCub CPU boards: icub_cpu_boards/icub_cpu_boards.md