diff --git a/README.md b/README.md
index c19241f..92fc26e 100644
--- a/README.md
+++ b/README.md
@@ -1,10 +1,10 @@
 # franka_interactive_controllers
 
-Control interface built on top of [franka_ros](https://frankaemika.github.io/docs/franka_ros.html) that allows to control the franka robot arm in several joint and Cartesian space impedance control schemes for interactive, safe and reactive (mostly DS-based) motion planning and learning. This low-level control interface is used and developed by/for [Prof. Nadia Figueroa](https://github.com/nbfigueroa) and her collaborators and students. Initially developed at MIT in the [Interactive Robotics Group](https://interactive.mit.edu/) continued development at the [University of Pennsylvania](https://www.seas.upenn.edu/). 
+Control interface built on top of [franka_ros](https://frankarobotics.github.io/docs/franka_ros/docs/index.html) that allows to control the franka robot arm in several joint and Cartesian space impedance control schemes for interactive, safe and reactive (mostly DS-based) motion planning and learning. This low-level control interface is used and developed by/for [Prof. Nadia Figueroa](https://github.com/nbfigueroa) and her collaborators and students. Initially developed at MIT in the [Interactive Robotics Group](https://interactive.mit.edu/) continued development at the [University of Pennsylvania](https://www.seas.upenn.edu/). 
 
 ---
 ## Installation
-Besides [franka_ros](https://frankaemika.github.io/docs/franka_ros.html) and by consequence [libfranka](https://github.com/frankaemika/libfranka) this package depends on several other code repositories that are robot-agnostic and useful for control and learning of motion policies from demonstrations. 
+Besides [franka_ros](https://frankarobotics.github.io/docs/franka_ros/docs/index.html) and by consequence [libfranka](https://github.com/frankarobotics/libfranka) this package depends on several other code repositories that are robot-agnostic and useful for control and learning of motion policies from demonstrations. 
 
 To install this repo and all its dependencies do the following steps:
 * In your catkin src directory clone the repository
@@ -54,7 +54,7 @@ We include a list of [instructions](https://github.com/nbfigueroa/franka_interac
 Following we detail instructions on how to bringup the controllers and their functionalities:   
 
 ### Main Robot Launch
-To bring up the standalone robot with [franka_ros](https://frankaemika.github.io/docs/franka_ros.html) without any specific controller (useful for testing -- can be included in your custom launch file):
+To bring up the standalone robot with [franka_ros](https://frankarobotics.github.io/docs/franka_ros/docs/index.html) without any specific controller (useful for testing -- can be included in your custom launch file):
 ```bash
 roslaunch franka_interactive_controllers franka_interactive_bringup.launch 
 ```
@@ -139,4 +139,4 @@ Maintainer: [Nadia Figueroa](https://nbfigueroa.github.io/) (nadiafig @ seas dot
 Code Contributions by: [Bilkit Githinji](https://interactive.mit.edu/about/people/bilkit), [Shen Li](https://shenlirobot.github.io/).
 
 ## Licenses
-Please note that the code for some of the controllers in this repository is derived from [franka_ros](https://github.com/frankaemika/franka_ros/), specifically the [franka_example_controllers](https://github.com/frankaemika/franka_ros/tree/develop/franka_example_controllers) package which is licenced under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0.html). The remaining code in the repository is licensed under an MIT license (see LICENSE for details).
+Please note that the code for some of the controllers in this repository is derived from [franka_ros](https://github.com/frankarobotics/franka_ros/), specifically the [franka_example_controllers](https://github.com/frankaemika/franka_ros/tree/develop/franka_example_controllers) package which is licenced under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0.html). The remaining code in the repository is licensed under an MIT license (see LICENSE for details).