The aim of this lecture is to find good symbolic codings for translations on the $d$-dimensional torus that enjoy the well-known and nice properties of Sturmian sequences (as for instance low complexity and good local discrepancy properties, i.e., bounded remainder sets of any scale). Inspired by the approach of G. Rauzy we construct such codings by the use of multidimensional continued fraction algorithms that are realized by sequences of substitutions.