diff --git a/.github/agents/algo-implementer.agent.md b/.github/agents/algo-implementer.agent.md
index 193b03d..1433d9d 100644
--- a/.github/agents/algo-implementer.agent.md
+++ b/.github/agents/algo-implementer.agent.md
@@ -1,5 +1,5 @@
 ---
-description: "Deploy ONE roadmap/ algorithm spec into numerical/ as float-only production code + test + doc + CMake. Terse, minimal tests, no comments. Use for roadmap deployment."
+description: "Deploy ONE roadmap/ algorithm spec into robotics/ as float-only production code + test + doc + CMake. Terse, minimal tests, no comments. Use for roadmap deployment."
 tools: [read, edit, search, execute, todo]
 model: "Claude Sonnet 4.6"
 handoffs:
diff --git a/.github/agents/modernizer.agent.md b/.github/agents/modernizer.agent.md
index 2171870..f264cbc 100644
--- a/.github/agents/modernizer.agent.md
+++ b/.github/agents/modernizer.agent.md
@@ -1,5 +1,5 @@
 ---
-description: "Refactor a pre-roadmap numerical/ algorithm to reuse shared math/ utilities, add coverage-build infra, and simplify/dedupe tests — preserving existing Q15/Q31 support. Behavior-preserving."
+description: "Refactor a pre-roadmap robotics/ algorithm to reuse shared math/ utilities, add coverage-build infra, and simplify/dedupe tests — preserving existing Q15/Q31 support. Behavior-preserving."
 tools: [read, edit, search, execute, todo]
 model: "Claude Sonnet 4.6"
 handoffs:
diff --git a/.github/agents/unit-tester.agent.md b/.github/agents/unit-tester.agent.md
index 4abd90d..cf9180b 100644
--- a/.github/agents/unit-tester.agent.md
+++ b/.github/agents/unit-tester.agent.md
@@ -1,5 +1,5 @@
 ---
-description: "Author metric-driven unit tests for ONE numerical/ algorithm — TEST_F on float, no heap, StrictMock, reference-value assertions chosen from TESTING.md. Terse, no comments."
+description: "Author metric-driven unit tests for ONE robotics/ algorithm — TEST_F on float, no heap, StrictMock, reference-value assertions chosen from TESTING.md. Terse, no comments."
 tools: [read, edit, search, execute, todo]
 model: "Claude Sonnet 5"
 handoffs:
@@ -9,22 +9,22 @@ handoffs:
 ---
 
 You add or extend the unit tests for ONE algorithm at a time in
-`numerical/<domain>/test/Test<Name>.cpp`. Authoritative rules: `AGENTS.md`. Testing rules:
+`robotics/<domain>/test/Test<Name>.cpp`. Authoritative rules: `AGENTS.md`. Testing rules:
 `.github/instructions/testing.instructions.md`. Metric families per algorithm:
 `TESTING.md`.
 
 ## Workflow
 
-1. Read the target algorithm's `numerical/<domain>/<Name>.hpp` public interface and its
-   `doc/<domain>/<Name>.md`. Read the existing `numerical/<domain>/test/Test<Name>.cpp` if present.
+1. Read the target algorithm's `robotics/<domain>/<Name>.hpp` public interface and its
+   `doc/<domain>/<Name>.md`. Read the existing `robotics/<domain>/test/Test<Name>.cpp` if present.
 2. Look up the algorithm's **family** in `TESTING.md` and select the applicable
    metric types (accuracy, frequency/transient response, stability, boundaries, invariants,
    convergence, statistical consistency, conditioning).
-3. Author/extend `numerical/<domain>/test/Test<Name>.cpp` — **one `TEST_F` per distinct property**,
+3. Author/extend `robotics/<domain>/test/Test<Name>.cpp` — **one `TEST_F` per distinct property**,
    each asserted against an **independent reference value** (closed form, hand computation, or a
    distinct method), using `EXPECT_NEAR` + `math::Tolerance<float>()`. Fixture + aliases in an
    anonymous namespace; `TEST_F` macros outside it.
-4. If the test source is new, wire it into `numerical/<domain>/test/CMakeLists.txt`.
+4. If the test source is new, wire it into `robotics/<domain>/test/CMakeLists.txt`.
 5. Build and run; fix until green:
    `cmake --preset host && cmake --build --preset host && ctest --preset host`.
 6. Report file paths + pass/fail. Nothing else.
diff --git a/.github/instructions/numerical-cpp.instructions.md b/.github/instructions/robotics-cpp.instructions.md
similarity index 81%
rename from .github/instructions/numerical-cpp.instructions.md
rename to .github/instructions/robotics-cpp.instructions.md
index 5bbc445..20b1645 100644
--- a/.github/instructions/numerical-cpp.instructions.md
+++ b/.github/instructions/robotics-cpp.instructions.md
@@ -1,11 +1,11 @@
 ---
-description: "Numerical C++ rules (float-only): no heap, bounded containers, generic template<typename T> instantiated for float, embedded pragmas, Allman/brace-init, SOLID, const-correct. Canonical: AGENTS.md."
+description: "Robotics C++ rules (float-only): no heap, bounded containers, generic template<typename T> instantiated for float, embedded pragmas, Allman/brace-init, SOLID, const-correct. Canonical: AGENTS.md."
 applyTo: "**/*.{hpp,cpp,h}"
 ---
 
-# Numerical Toolbox C++ Rules
+# Robotics Toolbox C++ Rules
 
-This project is a numerical algorithms library for DSP, control algorithms, filters, optimizers, and estimators targeting resource-constrained embedded systems. Follow these rules strictly.
+This project is a robot-manipulator algorithms library (kinematics, dynamics, trajectories, and manipulator control) targeting resource-constrained embedded systems. It consumes the shared numerical primitives (`math`, `solvers`, …) from numerical-toolbox-cpp via FetchContent. Follow these rules strictly.
 
 ## Memory — No Heap Allocation
 
@@ -43,9 +43,9 @@ Apply `OPTIMIZE_FOR_SPEED` (from `numerical/math/CompilerOptimizations.hpp`) on
 
 ## Naming
 
-- Classes/Methods: `PascalCase` (e.g., `FirFilter`, `Compute()`)
+- Classes/Methods: `PascalCase` (e.g., `ForwardKinematics`, `Compute()`)
 - Member variables: `camelCase` (e.g., `sampleRate`, `coefficients`)
-- Namespaces: lowercase (`filters`, `controllers`, `analysis`, `math`)
+- Namespaces: lowercase (`kinematics`, `dynamics`, `trajectory`, `math`)
 - Template parameters: descriptive (`typename T`, `std::size_t Order`)
 
 ## Style
diff --git a/.github/instructions/testing.instructions.md b/.github/instructions/testing.instructions.md
index 06557ba..a108a1e 100644
--- a/.github/instructions/testing.instructions.md
+++ b/.github/instructions/testing.instructions.md
@@ -1,13 +1,13 @@
 ---
-description: "Numerical Toolbox testing (float-only): TEST_F on float, StrictMock only, anonymous-namespace fixtures, no plain TEST(), no redundant cases, Arrange-Act-Assert. Canonical: AGENTS.md."
+description: "Robotics Toolbox testing (float-only): TEST_F on float, StrictMock only, anonymous-namespace fixtures, no plain TEST(), no redundant cases, Arrange-Act-Assert. Canonical: AGENTS.md."
 applyTo: "**/test/**"
 ---
 
-# Numerical Toolbox Testing Guidelines
+# Robotics Toolbox Testing Guidelines
 
 ## File Structure
 
-- Test files: `numerical/{domain}/test/Test{ComponentName}.cpp`
+- Test files: `robotics/{domain}/test/Test{ComponentName}.cpp`
 - CMake: tests added via `add_subdirectory(test)` with standard test target patterns
 
 ## Framework
@@ -66,17 +66,17 @@ When `EMIL_ENABLE_COVERAGE` is set, template code needs explicit instantiation i
 
 ```cpp
 #ifdef ROBOTICS_TOOLBOX_COVERAGE_BUILD
-extern template class FirFilter<float, 8>;
+extern template class ForwardKinematics<float, 3>;
 #endif
 ```
 
 And in the matching `.cpp` file:
 
 ```cpp
-#include "numerical/filters/passive/FirFilter.hpp"
+#include "robotics/kinematics/ForwardKinematics.hpp"
 
-namespace filters::passive
+namespace kinematics
 {
-    template class FirFilter<float, 8>;
+    template class ForwardKinematics<float, 3>;
 }
 ```
diff --git a/.github/prompts/orchestrate.prompt.md b/.github/prompts/orchestrate.prompt.md
index 0426d39..ae6d249 100644
--- a/.github/prompts/orchestrate.prompt.md
+++ b/.github/prompts/orchestrate.prompt.md
@@ -5,7 +5,7 @@ argument-hint: "Describe the algorithm, feature, bug fix, or change you want to
 model: "Claude Sonnet 4.6"
 ---
 
-Analyze the following task for the **robotics-toolbox** project — a numerical algorithms library for DSP, control algorithms, filters, optimizers, and estimators targeting resource-constrained embedded systems. Gather relevant context from the codebase — identify affected modules, existing patterns, numeric types involved (`float`, `math::Q15`, `math::Q31`), and documentation requirements. Then provide a brief scope summary and use the handoff buttons to route to the appropriate specialist:
+Analyze the following task for the **robotics-toolbox** project — a robot-manipulator algorithms library (kinematics, dynamics, trajectories, and manipulator control) targeting resource-constrained embedded systems, consuming shared numerical primitives from numerical-toolbox-cpp via FetchContent. Gather relevant context from the codebase — identify affected modules, existing patterns, the float-only numeric policy, and documentation requirements. Then provide a brief scope summary and use the handoff buttons to route to the appropriate specialist:
 
 - **Plan Implementation**: For complex tasks needing detailed upfront design (new algorithms, architectural changes, multi-file modifications)
 - **Execute Directly**: For straightforward changes with a clear path (bug fixes, small improvements)
diff --git a/.github/prompts/unit-test.prompt.md b/.github/prompts/unit-test.prompt.md
index d5afe6c..502d135 100644
--- a/.github/prompts/unit-test.prompt.md
+++ b/.github/prompts/unit-test.prompt.md
@@ -1,12 +1,12 @@
 ---
-description: "Author metric-driven unit tests for one numerical/ algorithm — TEST_F on float, no heap, StrictMock, reference-value assertions selected per family from TESTING.md."
+description: "Author metric-driven unit tests for one robotics/ algorithm — TEST_F on float, no heap, StrictMock, reference-value assertions selected per family from TESTING.md."
 agent: "unit-tester"
-argument-hint: "Name the numerical/ algorithm to author unit tests for (e.g. Biquad, KalmanFilter, RungeKuttaIntegrators)"
+argument-hint: "Name the robotics/ algorithm to author unit tests for (e.g. Biquad, KalmanFilter, RungeKuttaIntegrators)"
 model: "Claude Sonnet 5"
 ---
 
 Author (or extend) the unit tests for the named **robotics-toolbox** algorithm in
-`numerical/<domain>/test/Test<Name>.cpp`. Follow the `unit-tester` workflow: read the algorithm's
+`robotics/<domain>/test/Test<Name>.cpp`. Follow the `unit-tester` workflow: read the algorithm's
 public interface and doc; look up its family in `TESTING.md` and select the metric
 types to assert (accuracy, frequency/transient response, stability, boundaries, invariants,
 convergence, statistical consistency, conditioning); write one `TEST_F` on `float` per distinct
diff --git a/README.md b/README.md
index 8b0cf36..78b8259 100644
--- a/README.md
+++ b/README.md
@@ -39,6 +39,19 @@ The numerical-toolbox dependency is fetched automatically. Includes are namespac
 Each category page lists its algorithms with a brief description and links to the detailed
 documentation.
 
+### Booklet
+
+The entire documentation set is also published as a single book — read it online as a
+[GitHub Pages site](https://embedded-pro.github.io/robotics-toolbox-cpp/) or download the latest
+PDF from the [Releases page](../../releases/latest). Both are generated automatically from `doc/`
+(cover, Summary/table of contents, one chapter per category, consolidated references, back cover).
+
+Build it locally with [Pandoc](https://pandoc.org) + XeLaTeX installed:
+
+```bash
+python scripts/build-booklet.py --format all   # writes build/booklet/{RoboticsToolbox.pdf,index.html}
+```
+
 ## Simulator
 
 The `simulator/` directory contains an interactive Qt-based GUI application (Robot Arm) for
diff --git a/TESTING.md b/TESTING.md
index e39d152..118608b 100644
--- a/TESTING.md
+++ b/TESTING.md
@@ -2,7 +2,7 @@
 
 The library's test strategy: every algorithm is validated against the **mathematical invariants of
 its family**, not golden output. This is the reference for the `unit-tester` agent (and humans) when
-writing **unit tests** for `numerical/`. It answers one question per algorithm: *which mathematical
+writing **unit tests** for `robotics/`. It answers one question per algorithm: *which mathematical
 properties must a correct implementation satisfy, and how do we assert them?*
 
 ## Rationale
diff --git a/roadmap/trajectory/CartesianSlerpInterpolation/implementation.md b/roadmap/trajectory/CartesianSlerpInterpolation/implementation.md
index 6ce849d..e54f27d 100644
--- a/roadmap/trajectory/CartesianSlerpInterpolation/implementation.md
+++ b/roadmap/trajectory/CartesianSlerpInterpolation/implementation.md
@@ -1,6 +1,6 @@
 # Cartesian Path + Orientation (SLERP) Interpolation — Implementation Pseudocode
 
-> Roadmap ref: #M10 (Tier 2) · Target: `numerical/trajectory` · Namespace `trajectory` · Type: `float` (templated on `T`, instantiated for `float` only)
+> Roadmap ref: #M10 (Tier 2) · Target: `robotics/trajectory` · Namespace `trajectory` · Type: `float` (templated on `T`, instantiated for `float` only)
 
 ## Data structures
 
@@ -71,15 +71,15 @@ function Sample(t):                           # OPTIMIZE_FOR_SPEED
 
 ## Deployment
 
-- Header: `numerical/trajectory/CartesianSlerpInterpolation.hpp` — `#pragma once` →
+- Header: `robotics/trajectory/CartesianSlerpInterpolation.hpp` — `#pragma once` →
   `#pragma GCC optimize("O3","fast-math")`, `OPTIMIZE_FOR_SPEED` on `Sample`, and
   `extern template class CartesianSlerpInterpolation<float>;` under `#ifdef ROBOTICS_TOOLBOX_COVERAGE_BUILD`.
-- Coverage: `numerical/trajectory/CartesianSlerpInterpolation.cpp` →
+- Coverage: `robotics/trajectory/CartesianSlerpInterpolation.cpp` →
   `template class CartesianSlerpInterpolation<float>;`
-- Test: `numerical/trajectory/test/TestCartesianSlerpInterpolation.cpp`
+- Test: `robotics/trajectory/test/TestCartesianSlerpInterpolation.cpp`
 - Doc: `doc/trajectory/CartesianSlerpInterpolation.md` (expand to follow `doc/TEMPLATE.md`)
 - CMake: `.hpp` → `target_sources`; `.cpp` → `robotics_add_coverage_sources`;
   `TestCartesianSlerpInterpolation.cpp` → the `_test` target.
-- New module: create `numerical/trajectory/CMakeLists.txt` via `robotics_add_header_library(...)`,
-  add a `test/` subdir, register it in `numerical/CMakeLists.txt`, and add a `doc/trajectory/` folder.
+- New module: create `robotics/trajectory/CMakeLists.txt` via `robotics_add_header_library(...)`,
+  add a `test/` subdir, register it in `robotics/CMakeLists.txt`, and add a `doc/trajectory/` folder.
 - Generic pattern: see `roadmap/DEPLOYMENT.md`.
diff --git a/roadmap/trajectory/PolynomialTrajectory/implementation.md b/roadmap/trajectory/PolynomialTrajectory/implementation.md
index 486b49b..19abce2 100644
--- a/roadmap/trajectory/PolynomialTrajectory/implementation.md
+++ b/roadmap/trajectory/PolynomialTrajectory/implementation.md
@@ -1,6 +1,6 @@
 # Polynomial Point-to-Point Trajectory — Implementation Pseudocode
 
-> Roadmap ref: #M2 (Tier 1) · Target: `numerical/trajectory` · Namespace `trajectory` · Type: `float` (templated on `T`, instantiated for `float` only)
+> Roadmap ref: #M2 (Tier 1) · Target: `robotics/trajectory` · Namespace `trajectory` · Type: `float` (templated on `T`, instantiated for `float` only)
 
 ## Data structures
 
@@ -72,15 +72,15 @@ function Sample(t):                     # OPTIMIZE_FOR_SPEED
 
 ## Deployment
 
-- Header: `numerical/trajectory/PolynomialTrajectory.hpp` — `#pragma once` →
+- Header: `robotics/trajectory/PolynomialTrajectory.hpp` — `#pragma once` →
   `#pragma GCC optimize("O3","fast-math")`, `OPTIMIZE_FOR_SPEED` on `Sample`, and
   `extern template class PolynomialTrajectory<float>;` under `#ifdef ROBOTICS_TOOLBOX_COVERAGE_BUILD`.
-- Coverage: `numerical/trajectory/PolynomialTrajectory.cpp` →
+- Coverage: `robotics/trajectory/PolynomialTrajectory.cpp` →
   `template class PolynomialTrajectory<float>;`
-- Test: `numerical/trajectory/test/TestPolynomialTrajectory.cpp`
+- Test: `robotics/trajectory/test/TestPolynomialTrajectory.cpp`
 - Doc: `doc/trajectory/PolynomialTrajectory.md` (expand to follow `doc/TEMPLATE.md`)
 - CMake: `.hpp` → `target_sources`; `.cpp` → `robotics_add_coverage_sources`;
   `TestPolynomialTrajectory.cpp` → the `_test` target.
-- New module: create `numerical/trajectory/CMakeLists.txt` via `robotics_add_header_library(...)`,
-  add a `test/` subdir, register it in `numerical/CMakeLists.txt`, and add a `doc/trajectory/` folder.
+- New module: create `robotics/trajectory/CMakeLists.txt` via `robotics_add_header_library(...)`,
+  add a `test/` subdir, register it in `robotics/CMakeLists.txt`, and add a `doc/trajectory/` folder.
 - Generic pattern: see `roadmap/README.md` → "Deployment shape".
diff --git a/roadmap/trajectory/SCurveProfile/implementation.md b/roadmap/trajectory/SCurveProfile/implementation.md
index 2f8ee2f..751bda0 100644
--- a/roadmap/trajectory/SCurveProfile/implementation.md
+++ b/roadmap/trajectory/SCurveProfile/implementation.md
@@ -1,6 +1,6 @@
 # S-Curve (Jerk-Limited) Profile — Implementation Pseudocode
 
-> Roadmap ref: #M9 (Tier 2) · Target: `numerical/trajectory` · Namespace `trajectory` · Type: `float` (templated on `T`, instantiated for `float` only)
+> Roadmap ref: #M9 (Tier 2) · Target: `robotics/trajectory` · Namespace `trajectory` · Type: `float` (templated on `T`, instantiated for `float` only)
 
 ## Data structures
 
@@ -78,15 +78,15 @@ function Sample(t):                              # OPTIMIZE_FOR_SPEED
 
 ## Deployment
 
-- Header: `numerical/trajectory/SCurveProfile.hpp` — `#pragma once` →
+- Header: `robotics/trajectory/SCurveProfile.hpp` — `#pragma once` →
   `#pragma GCC optimize("O3","fast-math")`, `OPTIMIZE_FOR_SPEED` on `Sample`, and
   `extern template class SCurveProfile<float>;` under `#ifdef ROBOTICS_TOOLBOX_COVERAGE_BUILD`.
-- Coverage: `numerical/trajectory/SCurveProfile.cpp` →
+- Coverage: `robotics/trajectory/SCurveProfile.cpp` →
   `template class SCurveProfile<float>;`
-- Test: `numerical/trajectory/test/TestSCurveProfile.cpp`
+- Test: `robotics/trajectory/test/TestSCurveProfile.cpp`
 - Doc: `doc/trajectory/SCurveProfile.md` (expand to follow `doc/TEMPLATE.md`)
 - CMake: `.hpp` → `target_sources`; `.cpp` → `robotics_add_coverage_sources`;
   `TestSCurveProfile.cpp` → the `_test` target.
-- New module: create `numerical/trajectory/CMakeLists.txt` via `robotics_add_header_library(...)`,
-  add a `test/` subdir, register it in `numerical/CMakeLists.txt`, and add a `doc/trajectory/` folder.
+- New module: create `robotics/trajectory/CMakeLists.txt` via `robotics_add_header_library(...)`,
+  add a `test/` subdir, register it in `robotics/CMakeLists.txt`, and add a `doc/trajectory/` folder.
 - Generic pattern: see `roadmap/DEPLOYMENT.md`.
diff --git a/roadmap/trajectory/TimeOptimalPathParameterization/implementation.md b/roadmap/trajectory/TimeOptimalPathParameterization/implementation.md
index 2ef6e52..a3b4256 100644
--- a/roadmap/trajectory/TimeOptimalPathParameterization/implementation.md
+++ b/roadmap/trajectory/TimeOptimalPathParameterization/implementation.md
@@ -1,6 +1,6 @@
 # Time-Optimal Path Parameterization (TOPP) — Implementation Pseudocode
 
-> Roadmap ref: #M27 (Tier 5) · Target: `numerical/trajectory` · Namespace `trajectory` · Type: `float` (templated on `T`, instantiated for `float` only)
+> Roadmap ref: #M27 (Tier 5) · Target: `robotics/trajectory` · Namespace `trajectory` · Type: `float` (templated on `T`, instantiated for `float` only)
 
 ## Data structures
 
@@ -81,15 +81,15 @@ function Sample(t):                         # OPTIMIZE_FOR_SPEED
 
 ## Deployment
 
-- Header: `numerical/trajectory/TimeOptimalPathParameterization.hpp` — `#pragma once` →
+- Header: `robotics/trajectory/TimeOptimalPathParameterization.hpp` — `#pragma once` →
   `#pragma GCC optimize("O3","fast-math")`, `OPTIMIZE_FOR_SPEED` on `Sample`, and
   `extern template class TimeOptimalPathParameterization<float, N, Grid>;` under `#ifdef ROBOTICS_TOOLBOX_COVERAGE_BUILD`.
-- Coverage: `numerical/trajectory/TimeOptimalPathParameterization.cpp` →
+- Coverage: `robotics/trajectory/TimeOptimalPathParameterization.cpp` →
   `template class TimeOptimalPathParameterization<float, N, Grid>;`
-- Test: `numerical/trajectory/test/TestTimeOptimalPathParameterization.cpp`
+- Test: `robotics/trajectory/test/TestTimeOptimalPathParameterization.cpp`
 - Doc: `doc/trajectory/TimeOptimalPathParameterization.md` (expand to follow `doc/TEMPLATE.md`)
 - CMake: `.hpp` → `target_sources`; `.cpp` → `robotics_add_coverage_sources`;
   `TestTimeOptimalPathParameterization.cpp` → the `_test` target.
-- New module: create `numerical/trajectory/CMakeLists.txt` via `robotics_add_header_library(...)`,
-  add a `test/` subdir, register it in `numerical/CMakeLists.txt`, and add a `doc/trajectory/` folder.
+- New module: create `robotics/trajectory/CMakeLists.txt` via `robotics_add_header_library(...)`,
+  add a `test/` subdir, register it in `robotics/CMakeLists.txt`, and add a `doc/trajectory/` folder.
 - Generic pattern: see `roadmap/DEPLOYMENT.md`.
diff --git a/roadmap/trajectory/TrapezoidalProfile/implementation.md b/roadmap/trajectory/TrapezoidalProfile/implementation.md
index bd64df7..ef7b7dc 100644
--- a/roadmap/trajectory/TrapezoidalProfile/implementation.md
+++ b/roadmap/trajectory/TrapezoidalProfile/implementation.md
@@ -1,6 +1,6 @@
 # Trapezoidal (LSPB) Velocity Profile — Implementation Pseudocode
 
-> Roadmap ref: #M3 (Tier 1) · Target: `numerical/trajectory` · Namespace `trajectory` · Type: `float` (templated on `T`, instantiated for `float` only)
+> Roadmap ref: #M3 (Tier 1) · Target: `robotics/trajectory` · Namespace `trajectory` · Type: `float` (templated on `T`, instantiated for `float` only)
 
 ## Data structures
 
@@ -76,15 +76,15 @@ function Sample(t):                             # OPTIMIZE_FOR_SPEED
 
 ## Deployment
 
-- Header: `numerical/trajectory/TrapezoidalProfile.hpp` — `#pragma once` →
+- Header: `robotics/trajectory/TrapezoidalProfile.hpp` — `#pragma once` →
   `#pragma GCC optimize("O3","fast-math")`, `OPTIMIZE_FOR_SPEED` on `Sample`, and
   `extern template class TrapezoidalProfile<float>;` under `#ifdef ROBOTICS_TOOLBOX_COVERAGE_BUILD`.
-- Coverage: `numerical/trajectory/TrapezoidalProfile.cpp` →
+- Coverage: `robotics/trajectory/TrapezoidalProfile.cpp` →
   `template class TrapezoidalProfile<float>;`
-- Test: `numerical/trajectory/test/TestTrapezoidalProfile.cpp`
+- Test: `robotics/trajectory/test/TestTrapezoidalProfile.cpp`
 - Doc: `doc/trajectory/TrapezoidalProfile.md` (expand to follow `doc/TEMPLATE.md`)
 - CMake: `.hpp` → `target_sources`; `.cpp` → `robotics_add_coverage_sources`;
   `TestTrapezoidalProfile.cpp` → the `_test` target.
-- New module: create `numerical/trajectory/CMakeLists.txt` via `robotics_add_header_library(...)`,
-  add a `test/` subdir, register it in `numerical/CMakeLists.txt`, and add a `doc/trajectory/` folder.
+- New module: create `robotics/trajectory/CMakeLists.txt` via `robotics_add_header_library(...)`,
+  add a `test/` subdir, register it in `robotics/CMakeLists.txt`, and add a `doc/trajectory/` folder.
 - Generic pattern: see `roadmap/README.md` → "Deployment shape".
diff --git a/scripts/booklet/back-cover.tex b/scripts/booklet/back-cover.tex
index c7d791d..cdea383 100644
--- a/scripts/booklet/back-cover.tex
+++ b/scripts/booklet/back-cover.tex
@@ -3,7 +3,7 @@
 \thispagestyle{empty}
 \vspace*{\fill}
 \begin{center}
-{\Large\bfseries\color{RoyalBlue} Numerical Toolbox}\\[0.5em]
+{\Large\bfseries\color{RoyalBlue} Robotics Toolbox}\\[0.5em]
 {\itshape Embedded-first. Float-only. No heap.}\\[2em]
 Generated from the project \texttt{doc/} tree with Pandoc.\\
 Source, roadmap, and contribution guide at the project repository.
diff --git a/scripts/booklet/metadata.yaml b/scripts/booklet/metadata.yaml
index 68f591e..5e4103e 100644
--- a/scripts/booklet/metadata.yaml
+++ b/scripts/booklet/metadata.yaml
@@ -1,6 +1,6 @@
 ---
-title: "Numerical Toolbox"
-subtitle: "A Field Guide to Embedded DSP, Control, and Estimation Algorithms"
+title: "Robotics Toolbox"
+subtitle: "A Field Guide to Embedded Robot Manipulator Kinematics, Dynamics, and Control"
 author:
   - "Gabriel Francisco dos Santos"
   - "gabriel.fra.santos@gmail.com"