could you explain me the advantages ?
Forth occupies a sort of "sweet spot" between interpreted languages and compile languages. Usually a forth implementation is faster and smaller than most compilers, while retaining the interactive aspects of an interpreter (not ALL interpreters stress interactivity these days. but Forth does; you can type commands and get them to work immediately. I once wrapped a Forth superstructure around a Fortran graphics library, just so I could quickly try out the various "interesting" graphics calls.)
it was said that it could help you to rapid prototype about robotic stuff, i wandering why.
Probably the availability of that interactivity. You can write a Forth "word" so you can do things like "100 forward stepmotor", and then use it either interactively, or in a bigger Forth program.
a pretty implementation of Forth in C
Forth is designed to be implemented on top of a pretty bare machine. A C implementation is not likely to be "pretty." (some assembly language versions are extremely elegant. Not all. It surely helps if you can easily implement TWO stacks, for instance.) There ARE C versions...
a pretty book/doc that could train about "thinking in Forth"
Brodie's book.
IMO, Forth's biggest weakness is that it didn't catch on to this whole "filesystem" thing that started happening to microcomputers. You go along figuring things out and it's all pretty cool till you get to this archaic disk stuff based on reading raw disk blocks. Perhaps newer forth has something better.
a pretty example of usage in real life
IIRC, The SUN Rom monitor/bootstrap is written in forth. Also, Postscript is very forth-like.
As someone said, Forth isn't very pretty to READ.
By all means check out
http://www.forth.org/can I put a forth implementation on 68HC11, i have only 32Kbyte of ram.
Almost for sure. 32k is a large system by forth standards. "amforth" for the AVR is about 8k of flash, 200 bytes of RAM, and 100 bytes of EEPROM for its core, for instance.