diff --git a/README.md b/README.md
index 0fdaff3ee75e6d40f30181e6e453e4f78713a179..523de4446ed86d9519ce29f3d00caba3626f0350 100644
--- a/README.md
+++ b/README.md
@@ -12,8 +12,8 @@ The upper part of the robot provides additional sensors and devices: touch scree
 
 A fully featured gazebo model is also provided to test the robot in simulation. 
 
-<img src="/pictures/helena.jpg" alt="helena_robot_picture" width="200" height="133">
-<img src="/pictures/helena_sim.png" alt="helena_robot_sim" width="200" height="133">
+<img src="docs/pictures/helena.jpg" alt="helena_robot_picture" width="200" height="133">
+<img src="docs/pictures/helena_sim.png" alt="helena_robot_sim" width="200" height="133">
 
 # Procedures
 
@@ -26,10 +26,10 @@ whenever you need to use the robot.
 
 # Tutorials
 
-* [Real robot](tutorials/real_robot.md)
-* [Simulation](tutorials/simulation.md)
-* [Teleoperation](tutorials/teleoperation.md)
-* [Navigation](tutorials/navigation.md)
+* [Real robot](docs/tutorials/real_robot.md)
+* [Simulation](docs/tutorials/simulation.md)
+* [Teleoperation](docs/tutorials/teleoperation.md)
+* [Navigation](docs/tutorials/navigation.md)
 
 # Developers
 
diff --git a/docs/tutorials/real_robot.md b/docs/tutorials/real_robot.md
index 2f6c9c173e024b57cfe71a46100b2a614989b42f..b2014de16b5307d12ff5e408a88ea864a03c8b8e 100644
--- a/docs/tutorials/real_robot.md
+++ b/docs/tutorials/real_robot.md
@@ -2,8 +2,8 @@
 
 The robot's on-board computer already has all the necessary ROS nodes to operate the robot and it is fully configured.
 
-**IMPORTANT**: follow all the procedures listed here: [iri_helena_how_to/procedures](../procedures)
+**IMPORTANT**: follow all the procedures listed here: [iri_helena_how_to/procedures](/procedures)
 
 At this point, you should have acces to all the topic, services and actions provided by the robot.
 
-A complete list of all ROS interfaces is shown here: [ROS_interface](../docs/ros_interface.md).
+A complete list of all ROS interfaces is shown here: [ROS_interface](/docs/ros_interface.md).
diff --git a/docs/tutorials/simulation.md b/docs/tutorials/simulation.md
index 69b0665759a0778dd7e785636b0dceb1f712ef3e..73cc79d658e15c646cba561f1d458f6d4b4dc67c 100644
--- a/docs/tutorials/simulation.md
+++ b/docs/tutorials/simulation.md
@@ -61,4 +61,4 @@ roslaunch iri_helena_gazebo sim_sample.launch rviz:=true world_name:=willow
 
 This command should launch the robot with all its sensors in an example world, shown in the Gazebo gui, and Rviz showing sensor data. 
 
-A complete list of all ROS interfaces is shown here: [ROS_interface](../docs/ros_interface.md).
+A complete list of all ROS interfaces is shown here: [ROS_interface](/docs/ros_interface.md).