diff --git a/.github/workflows/doxygen.yml b/.github/workflows/doxygen.yml
index d06766dd..b75c33fe 100644
--- a/.github/workflows/doxygen.yml
+++ b/.github/workflows/doxygen.yml
@@ -12,10 +12,26 @@ jobs:
     runs-on: ubuntu-latest
     if: github.event.pull_request.merged == true
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
       with:
         persist-credentials: false
         fetch-depth: 0
+    - name: Switch to gh-pages branch
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      shell: bash
+      run: |
+        # Check if the gh-pages branch exists. If not, create it.
+        branch_exist=$(git ls-remote --heads origin gh-pages)
+        if [ -z ${branch_exist} ]; then
+          git checkout --orphan gh-pages
+          git reset --hard
+          git commit --allow-empty -m "Created gh-pages branch"
+          git push origin gh-pages
+        fi
+        # Switch to gh-pages branch
+        git fetch
+        git checkout gh-pages
     - name: Create local changes
       run: |
         sudo apt-get install doxygen
@@ -24,14 +40,16 @@ jobs:
         cp -r ./html/* ./
         rm -rf ./html
         git add .
-    - name: Commit files
+    - name: Commit and push files
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       run: |
-        git config --local user.email "41898282+github-actions[bot]@users.noreply.github.com"
-        git config --local user.name "github-actions[bot]"
-        git commit -m "Auto-generate Doxygen documentation via Github Actions" -a
-    - name: Push changes
-      uses: ad-m/github-push-action@master
-      with:
-        github_token: ${{ secrets.GITHUB_TOKEN }}
-        branch: gh-pages
-        force: true
+        git config --global user.name ${{ github.actor }}
+        git config --global user.email ${{ github.actor }}@users.noreply.github.com
+        git add .
+        # Only commit if doxygen is changed.
+        changed=$(git diff-index HEAD)
+        if [ -n "$changed" ]; then
+          git commit -m "Auto-generate Doxygen documentation via Github Actions" -a
+          git push origin gh-pages
+        fi