diff --git a/doc/Doxyfile.extra.in b/doc/Doxyfile.extra.in
index 78c18b7aebdaa058fc91acee832ffa09141e0124..475ea97ddba7f4244872d7c08279cb1e48e8d36e 100644
--- a/doc/Doxyfile.extra.in
+++ b/doc/Doxyfile.extra.in
@@ -291,8 +291,7 @@ WARN_LOGFILE           = @CMAKE_BINARY_DIR@/doc/doxygen.log
 # directories like "/usr/src/myproject". Separate the files or directories
 # with spaces.
 
-INPUT                 = @CMAKE_SOURCE_DIR@/doc/additionalDoc \
-                        @CMAKE_SOURCE_DIR@/doc \
+INPUT                 = @CMAKE_SOURCE_DIR@/doc \
                         @CMAKE_SOURCE_DIR@/src
 
 # The RECURSIVE tag can be used to turn specify whether or not subdirectories
diff --git a/doc/maths/dynamics.md b/doc/maths/dynamics.md
new file mode 100644
index 0000000000000000000000000000000000000000..25510cacc780da18dc66706a56497435f5e74342
--- /dev/null
+++ b/doc/maths/dynamics.md
@@ -0,0 +1,3 @@
+# Dynamics
+
+## Direct Dynamics
diff --git a/doc/maths/geometry.md b/doc/maths/geometry.md
new file mode 100644
index 0000000000000000000000000000000000000000..fe9a883802408bb47b52d2fea9ca3e9d54d6f3d1
--- /dev/null
+++ b/doc/maths/geometry.md
@@ -0,0 +1,7 @@
+# Geometry
+
+## Special Euclidian Group
+
+## Direct Geometry
+
+## Inverse Geometry
diff --git a/doc/maths/intro.md b/doc/maths/intro.md
new file mode 100644
index 0000000000000000000000000000000000000000..c9b3eba2d12293280869c77cc1958f4594d47c79
--- /dev/null
+++ b/doc/maths/intro.md
@@ -0,0 +1,3 @@
+# Mathematical formulation
+
+This section describes the mathematical formulation used by Pinocchio, which is the base for Featherstone's algorithms.
diff --git a/doc/maths/kinematics.md b/doc/maths/kinematics.md
new file mode 100644
index 0000000000000000000000000000000000000000..b8d4d7d99c4fa6b8ad1886195ab99eb46cc271ae
--- /dev/null
+++ b/doc/maths/kinematics.md
@@ -0,0 +1,5 @@
+# Kinematics
+
+## Direct Kinematics
+
+## Inverse Kinematics
diff --git a/doc/treeview.dox b/doc/treeview.dox
index f9767c8d2cd935b2aa426bc091a2d63016d28747..3524622910856a74d23944682fb0bd0c69dcb5b0 100644
--- a/doc/treeview.dox
+++ b/doc/treeview.dox
@@ -27,6 +27,12 @@ namespace pinocchio {
   // Pages/ tutorials organization
   //
 
+  /** \page md_doc_maths_intro Mathematical Formulation
+       - \subpage md_doc_maths_geometry
+       - \subpage md_doc_maths_kinematics
+       - \subpage md_doc_maths_dynamics
+  */
+
   /** \page Chapters Chapters
        - \subpage md_doc_Chapters_creating-models
        - \subpage md_doc_Chapters_crtp