diff --git a/CHANGELOG.md b/CHANGELOG.md
index 03c9fa5730..8669b1a38e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -3,14 +3,30 @@ All notable changes to this project are documented in this file.
 
 ## [Unreleased]
 - Added the `BaseCentroidalMPC` and the `StableCentroidalMPC` classes to the ReducedModelControllers component (https://github.com/ami-iit/bipedal-locomotion-framework/pull/734)
-- Added the ``DistanceTask`` and ``GravityTask`` to the IK (https://github.com/ami-iit/bipedal-locomotion-framework/pull/717)
 
 ### Added
 - Add the possibility to control a subset of coordinates in `TSID::CoMTask` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/724, https://github.com/ami-iit/bipedal-locomotion-framework/pull/727)
 - Add the possibility to set the maximum number of accepted deadline miss in `System::AdvanceableRunner` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/726)
+- Add the `getControllerOutput` method to the `TSID::SE3Task` class (https://github.com/ami-iit/bipedal-locomotion-framework/pull/740)
+- Implement the python bindings for the `Wrench` class (https://github.com/ami-iit/bipedal-locomotion-framework/pull/716)
+- Implement the python bindings for the `SimplifiedModelControllers` components (https://github.com/ami-iit/bipedal-locomotion-framework/pull/716)
+- 🤖 Add the configuration files to use `YarpRobotLoggerDevice` with `ergoCubSN001` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/747)
+- Added the ``DistanceTask`` and ``GravityTask`` to the IK (https://github.com/ami-iit/bipedal-locomotion-framework/pull/717)
+- Add the possibility to control a subset of linear coordinates in `TSID::SE3Task` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/738)
+- Implement `GlobalCoPEvaluator` in `Contacts` component (https://github.com/ami-iit/bipedal-locomotion-framework/pull/745)
+- Implement `Wrench::getLocalCoP()` method (https://github.com/ami-iit/bipedal-locomotion-framework/pull/745)
+- Add tests for classes of `RobotDynamicsEstimator` library (https://github.com/ami-iit/bipedal-locomotion-framework/pull/743)
 
 ### Changed
 - Remove the possibility to disable the telemetry in `System::AdvanceableRunner` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/726)
+- Change implementation of classes used in `RobotDynamicsEstimator` to optimize performance (https://github.com/ami-iit/bipedal-locomotion-framework/pull/731)
+- CMake: Permit to explictly specify Python installation directory by setting the `FRAMEWORK_PYTHON_INSTALL_DIR` CMake variable (https://github.com/ami-iit/bipedal-locomotion-framework/pull/741)
+- Remove outdated tests for `RobotDynamicsEstimator` library (https://github.com/ami-iit/bipedal-locomotion-framework/pull/742)
+- Modify CI to install `RobotDynamicsEstimator` library (https://github.com/ami-iit/bipedal-locomotion-framework/pull/746)
+- Restructure the balancing-position-control script (https://github.com/ami-iit/bipedal-locomotion-framework/pull/716)
+
+### Fixed
+- Fix timestamp logging for the cameras (https://github.com/ami-iit/bipedal-locomotion-framework/pull/748)
 
 ## [0.15.0] - 2023-09-05
 ### Added