diff --git a/CHANGELOG.md b/CHANGELOG.md
index 57a9d9ee2a..8713c5022f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,7 @@ All notable changes to this project are documented in this file.
 - Add KF to estimate joint and motor velocities in JoinTorqueControlDevice (https://github.com/ami-iit/bipedal-locomotion-framework/pull/909)
 - Added option `FRAMEWORK_COMPILE_Ros1Publisher` to enable or disable the compilation of the `BipedalLocomotion::YarpUtilities::RosPublisher` class (https://github.com/ami-iit/bipedal-locomotion-framework/pull/914)
 - Added rpc commands to `YarpLoggerDevice` to trigger the saving of data to a local file (https://github.com/ami-iit/bipedal-locomotion-framework/pull/915)
+- Add `ZMPgenerator` to `UnicycleTrajectoryGenerator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/916)
 
 ### Changed
 - Change device jtcvc to use motor velocity and joint velocity in input to PINN models (https://github.com/ami-iit/bipedal-locomotion-framework/pull/903)