diff --git a/doc/source/usage/configure_keyboard_control.md b/doc/source/usage/configure_keyboard_control.md
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--- a/doc/source/usage/configure_keyboard_control.md
+++ b/doc/source/usage/configure_keyboard_control.md
@@ -1,2 +1,82 @@
 Configure keyboard control
-=======
\ No newline at end of file
+==========================
+
+The keyboard control is a manual control method that allows you to control the robot using the keyboard. 
+
+## Keyboard Control Configuration Parameters
+
+Please make sure the dependencies are installed before running the simulation with keyboard. The dependencies can be installed using the following command:
+
+```bash
+pip install ir-sim[keyboard]
+```
+
+To start with the keyboard control, you can simply to specify the `control_mode` parameter in the `world` section as `keyboard`. The example of the keyboard control is shown below:
+
+```python
+import irsim
+
+env = irsim.make()
+
+for i in range(1000):
+
+    env.step()
+    env.render(0.05)
+
+    if env.done():
+        break
+
+env.end()
+```
+
+```yaml
+world:
+  height: 50  
+  width: 50   
+  control_mode: 'keyboard'  
+  obstacle_map: 'cave.png'
+  mdownsample: 2
+
+robot:
+  - kinematics: {name: 'acker'} 
+    shape: {name: 'rectangle', length: 4.6, width: 1.6, wheelbase: 3}
+    state: [5, 5, 0, 0]
+    goal: [40, 40, 0]
+    vel_max: [4, 1]
+    plot:
+      show_trail: True
+      traj_color: 'g'
+      show_trajectory: True
+      show_goal: False
+
+    sensors: 
+      - type: 'lidar2d'
+        range_min: 0
+        range_max: 20
+        angle_range: 3.14
+        number: 100
+        alpha: 0.4
+```
+
+The demonstration controlled by the keyboard is shown below:
+
+```{image} gif/keyboard.gif
+:alt: Select Parameters
+:width: 400px
+:align: center
+```
+
+## Keyboard Control Key Mapping
+
+| Key      | Function                        |
+|----------|---------------------------------|
+| `w`      | Forward                         |
+| `s`      | Back Forward                    |
+| `a`      | Turn Left                       |
+| `d`      | Turn Right                      |
+| `q`      | Decrease Linear Velocity        |
+| `e`      | Increase Linear Velocity        |
+| `z`      | Decrease Angular Velocity       |
+| `c`      | Increase Angular Velocity       |
+| `alt+num`| Change Current Control Robot ID |
+| `r`      | Reset the Environment           |
diff --git a/doc/source/usage/gif/keyboard.gif b/doc/source/usage/gif/keyboard.gif
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