diff --git a/CHANGELOG.md b/CHANGELOG.md
index d36a1121fb..9d1abd6ca1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,16 @@
 # Changelog
 All notable changes to this project are documented in this file.
 
+## [unreleased]
+### Added
+- Add `ZMPgenerator` to `UnicycleTrajectoryGenerator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/916)
+
+### Changed
+
+
+### Fixed
+- Fix outputs of `UnicycleTrajectoryGenerator` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/916)
+
 ## [0.20.0] - 2024-12-16
 ### Added
 - Add `USE_SYSTEM_tiny-process-library` CMake option to use `tiny-process-library` found in system (https://github.com/ami-iit/bipedal-locomotion-framework/pull/891)
@@ -14,7 +24,6 @@ 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)