diff --git a/.github/workflows/doc.yml b/.github/workflows/doc.yml
new file mode 100644
index 0000000..f327bf2
--- /dev/null
+++ b/.github/workflows/doc.yml
@@ -0,0 +1,52 @@
+name: Update documentation
+
+on:
+  push:
+    branches: [main]
+  workflow_dispatch:
+
+permissions:
+  contents: write
+  id-token: write
+  pages: write
+
+jobs:
+  build:
+    name: Build documentation
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v1
+        with:
+          python-version: "3.10"
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install .[doc]
+      - name: Build with Sphinx
+        run: cd docs && make html
+      - name: Upload documentation artifact
+        uses: actions/upload-artifact@v2
+        with:
+          name: documentation
+          path: ./doc/_build/html
+  upload:
+    name: Upload to GitHub pages
+    runs-on: ubuntu-latest
+    needs: build
+    steps:
+      - name: Download documentation artifact
+        uses: actions/download-artifact@v2
+        with:
+          name: documentation
+          path: ./html
+      - name: Setup Pages
+        uses: actions/configure-pages@v3
+      - name: Upload artifact
+        uses: actions/upload-pages-artifact@v2
+        with:
+          path: ./html
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v2
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 575bb58..9401326 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -1,9 +1,10 @@
-name: Test
+name: Run tests
 
 on:
   push:
     branches: ["main"]
   pull_request:
+  workflow_dispatch:
 
 jobs:
   unittest:
diff --git a/docs/Makefile b/doc/Makefile
similarity index 100%
rename from docs/Makefile
rename to doc/Makefile
diff --git a/docs/_static/.keep b/doc/_static/.keep
similarity index 100%
rename from docs/_static/.keep
rename to doc/_static/.keep
diff --git a/docs/conf.py b/doc/conf.py
similarity index 100%
rename from docs/conf.py
rename to doc/conf.py
diff --git a/docs/dm_robotics.panda.rst b/doc/dm_robotics.panda.rst
similarity index 100%
rename from docs/dm_robotics.panda.rst
rename to doc/dm_robotics.panda.rst
diff --git a/docs/index.rst b/doc/index.rst
similarity index 100%
rename from docs/index.rst
rename to doc/index.rst
diff --git a/docs/make.bat b/doc/make.bat
similarity index 100%
rename from docs/make.bat
rename to doc/make.bat
diff --git a/docs/tutorial.rst b/doc/tutorial.rst
similarity index 100%
rename from docs/tutorial.rst
rename to doc/tutorial.rst