diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
index c5410631..c8790ad9 100644
--- a/.github/pull_request_template.md
+++ b/.github/pull_request_template.md
@@ -1,7 +1,7 @@
 <!-- 
 Thanks for contributing a pull request! 
 Please check this document before submitting:
-- [How to contribute](https://pythonrobotics.readthedocs.io/en/latest/how_to_contribute.html#adding-a-new-algorithm-example)
+- [How to contribute](https://atsushisakai.github.io/PythonRobotics/how_to_contribute.html#adding-a-new-algorithm-example)
 
 Note that this is my hobby project; I appreciate your
 patience during the review process.
diff --git a/README.md b/README.md
index f54b880d..2d0ee8d6 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,6 @@
 ![GitHub_Action_Linux_CI](https://github.com/AtsushiSakai/PythonRobotics/workflows/Linux_CI/badge.svg)
 ![GitHub_Action_MacOS_CI](https://github.com/AtsushiSakai/PythonRobotics/workflows/MacOS_CI/badge.svg)
 [![Build status](https://ci.appveyor.com/api/projects/status/sb279kxuv1be391g?svg=true)](https://ci.appveyor.com/project/AtsushiSakai/pythonrobotics)
-[![Documentation Status](https://readthedocs.org/projects/pythonrobotics/badge/?version=latest)](https://pythonrobotics.readthedocs.io/en/latest/?badge=latest)
 [![codecov](https://codecov.io/gh/AtsushiSakai/PythonRobotics/branch/master/graph/badge.svg)](https://codecov.io/gh/AtsushiSakai/PythonRobotics)
 [![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/AtsushiSakai/PythonRobotics.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/AtsushiSakai/PythonRobotics/context:python)
 [![tokei](https://tokei.rs/b1/github/AtsushiSakai/PythonRobotics)](https://github.com/AtsushiSakai/PythonRobotics)
@@ -126,7 +125,7 @@ This README only shows some examples of this project.
 
 If you are interested in other examples or mathematical backgrounds of each algorithm, 
 
-You can check the full documentation online: [https://pythonrobotics.readthedocs.io/](https://pythonrobotics.readthedocs.io/)
+You can check the full documentation online: [Welcome to PythonRobotics’s documentation\! — PythonRobotics documentation](https://atsushisakai.github.io/PythonRobotics/index.html)
 
 All animation gifs are stored here: [AtsushiSakai/PythonRoboticsGifs: Animation gifs of PythonRobotics](https://github.com/AtsushiSakai/PythonRoboticsGifs)
 
@@ -609,7 +608,7 @@ This is a list of user's comment and references:[users\_comments](https://github
 
 Any contribution is welcome!! 
 
-Please check this document:[How to contribute](https://pythonrobotics.readthedocs.io/en/latest/how_to_contribute.html#)
+Please check this document:[How To Contribute — PythonRobotics documentation](https://atsushisakai.github.io/PythonRobotics/how_to_contribute.html)
 
 # Citing
 
diff --git a/docs/conf.py b/docs/conf.py
index 892e2863..899f9613 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -95,6 +95,17 @@ html_theme_options = {
     'display_version': False,
 }
 
+# replace "view page source" with "edit on github" in Read The Docs theme
+#  * https://github.com/readthedocs/sphinx_rtd_theme/issues/529
+html_context = {
+    'display_github': True,
+    'github_user': 'AtsushiSakai',
+    'github_repo': 'PythonRobotics',
+    'github_version': 'master',
+    "conf_py_path": "/docs/",
+    "source_suffix": source_suffix,
+}
+
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
diff --git a/docs/how_to_contribute_main.rst b/docs/how_to_contribute_main.rst
index 4b39089e..8a2f73e9 100644
--- a/docs/how_to_contribute_main.rst
+++ b/docs/how_to_contribute_main.rst
@@ -147,7 +147,7 @@ Sponsors
 1. `JetBrains`_ : They are providing a free license of their IDEs for this OSS development.
 
 
-.. _`Python Robotics Docs`: https://pythonrobotics.readthedocs.io/en/latest/
+.. _`Python Robotics Docs`: https://atsushisakai.github.io/PythonRobotics
 .. _`bug labeled issues`: https://github.com/AtsushiSakai/PythonRobotics/issues?q=is%3Aissue+is%3Aopen+label%3Abug
 .. _`tests dir`: https://github.com/AtsushiSakai/PythonRobotics/tree/master/tests
 .. _`test_a_star.py`: https://github.com/AtsushiSakai/PythonRobotics/blob/master/tests/test_a_star.py
diff --git a/users_comments.md b/users_comments.md
index 43ffc7cc..66e8b402 100644
--- a/users_comments.md
+++ b/users_comments.md
@@ -6,7 +6,7 @@ This is an electric wheelchair control demo by [Katsushun89](https://github.com/
 
 [WHILL Model CR](https://whill.jp/model-cr) is the control target, [M5Stack](https://m5stack.com/) is used for the controller, and [toio](https://toio.io/) is used for the control input device.
 
-[move-to-a-pose-control](https://pythonrobotics.readthedocs.io/en/latest/modules/path_tracking.html#move-to-a-pose-control) is used for its control algorithm ([code link](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/move_to_pose/move_to_pose.py)).
+[Move to a Pose Control — PythonRobotics documentation](https://atsushisakai.github.io/PythonRobotics/modules/control/move_to_a_pose_control/move_to_a_pose_control.html) is used for its control algorithm ([code link](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathTracking/move_to_pose/move_to_pose.py)).
 
 ![1](https://github.com/AtsushiSakai/PythonRoboticsGifs/blob/master/Users/WHILL_Model_CR_with_move_to_a_pose/WHLL_Model_CR_with_move_to_a_pose.gif)