diff --git a/doc/manual/interface.rst b/doc/manual/interface.rst
index 5408cd5..e049571 100644
--- a/doc/manual/interface.rst
+++ b/doc/manual/interface.rst
@@ -1,14 +1,14 @@
 .. _interface:
 
 Oncilla Interface
 =================
 
 Following the abstractions of the :ref:`Robot Control Interface <rci>` (RCI),
 the Oncilla robot is modeled by a set of specific
 :ref:`Resource Nodes <rci:resourcenode>`:
 
-* :ref:`trunk`
-* :ref:`l0`
-* :ref:`l1l2`
+* :ref:`trunk` -- representing the robot's trunk
+* :ref:`l0` -- representing the adduction-abduction scapula joint
+* :ref:`l1l2` -- representing the protraction-retraction hip joint and the flexion-extension knee joint
 * :ref:`l3`
-* :ref:`l4`
+* :ref:`l4` -- representing the foot of the robot
diff --git a/doc/manual/l0.rst b/doc/manual/l0.rst
new file mode 100644
index 0000000..bac668d
--- /dev/null
+++ b/doc/manual/l0.rst
@@ -0,0 +1,27 @@
+.. _l0:
+
+Oncilla L0
+==========
+
+The Oncilla L0 joint represents the adduction-abduction scapula joint. It can be
+controlled in position and sense forces along the legs.
+
+Joint space control and force sensing of L0:
+
+.. code-block:: cpp
+   :emphasize-lines: 5,7, 9
+
+   Oncilla oncilla; // get robot instance
+   L0::Ptr left_fore_hip = oncilla.getL0(LEFT_FORE); // get left fore l0 joint
+
+   JointAnglesPtr command = JointAngles::fromRad(3.14); // in radians
+   left_fore_hip->setJointPosition(command); // send new command
+
+   std::cout << left_fore_hip->getJointPosition(); // get current position
+
+   std::cout << left_fore_hip->getForces(); // get current force sensing
+
+Refer to the API documentation of
+`rci::oncilla::OncillaL0 <https://redmine.amarsi-project.eu/projects/quaddrivers/embedded/classrci_1_1oncilla_1_1OncillaL0.html>`_
+for the full technical interface of these joints.
+
diff --git a/doc/manual/l1l2.rst b/doc/manual/l1l2.rst
index e64f2bf..9bf5365 100644
--- a/doc/manual/l1l2.rst
+++ b/doc/manual/l1l2.rst
@@ -1,6 +1,30 @@
 .. _l1l2:
 
 Oncilla L1 and L2
 =================
 
-The Oncilla Joints L1 and L2 ...
+The Oncilla Joints L1 and L2 provide the same (technical) interface, as they are
+both realized as servo motors on the hardware platform.
+
+L1 represents the protraction-retraction hip joint. L2 represents the
+flexion-extension knee joint. Both can be controlled in position, velocity,
+torque and impedance and report current angle of of the motor axis and the
+magnetic encoder.
+
+Simple joint space control of a L1 or L2 joint:
+
+.. code-block:: cpp
+   :emphasize-lines: 5,7
+
+   Oncilla oncilla; // get robot instance
+   L1::Ptr left_fore_hip = oncilla.getL1(LEFT_FORE); // get left fore l1 joint
+
+   JointAnglesPtr command = JointAngles::fromRad(3.14); // in radians
+   left_fore_hip->setJointPosition(command); // send new command
+
+   std::cout << left_fore_hip->getJointPosition()->deg(); // get position in degrees
+
+Refer to the API documentation of
+`rci::oncilla::OncillaL1L2 <https://redmine.amarsi-project.eu/projects/quaddrivers/embedded/classrci_1_1oncilla_1_1OncillaL1L2.html>`_
+for the full technical interface of these joints.
+
diff --git a/doc/manual/l4.rst b/doc/manual/l4.rst
new file mode 100644
index 0000000..7460d49
--- /dev/null
+++ b/doc/manual/l4.rst
@@ -0,0 +1,27 @@
+.. _l4:
+
+Oncilla L4
+==========
+
+The Oncilla L4 joint represents the foot of the robot. It can't be controlled
+and currently doesn't provide any sensing features. In the oncilla interface it
+is therefore implemented as *supervisor*, as poses and forces can be sensed with
+external sensors. This is currently implemented in simulation, which can report
+the current cartesian pose and the contect forces of the foot.
+
+Joint space control and force sensing of L4:
+
+.. code-block:: cpp
+   :emphasize-lines: 2,4,6
+
+   Supervisor supervisor; // get robot instance
+   SupervisorL4::Ptr left_fore_foot = supervisor.getL4(LEFT_FORE); // get foot supervisor
+
+   std::cout << left_fore_foot->getForces(); // get current force sensing
+
+   std::cout << left_fore_foot->getPose(); // get current 6d pose
+
+Refer to the API documentation of
+`rci::oncilla::SupervisorL4 <https://redmine.amarsi-project.eu/projects/quaddrivers/embedded/classrci_1_1oncilla_1_1SupervisorL4.html>`_
+for the full technical interface of these joints.
+
diff --git a/doc/manual/trunk.rst b/doc/manual/trunk.rst
new file mode 100644
index 0000000..7680ea7
--- /dev/null
+++ b/doc/manual/trunk.rst
@@ -0,0 +1,23 @@
+.. _trunk:
+
+Oncilla Trunk
+=============
+
+The Oncilla Trunk is able to sense translational acceleration and orientation
+of the robot's trunk.
+
+To get these values:
+
+.. code-block:: cpp
+   :emphasize-lines: 4,5
+
+   Oncilla oncilla; // get robot instance
+   Trunk::Ptr trunk = oncilla.getTrunk(); // get trunk
+
+   std::cout << trunk->getOrientation(); // gets current orientation
+   std::cout << trunk->getTranslationalAcceleration(); // gets current acceleration
+
+Refer to the API documentation of
+`rci::oncilla::OncillaTrunk <https://redmine.amarsi-project.eu/projects/quaddrivers/embedded/classrci_1_1oncilla_1_1OncillaTrunk.html>`_
+for the full technical interface of the trunk.
+