diff --git a/CHANGELOG.md b/CHANGELOG.md
index 28347564c6..94b1e636af 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -28,6 +28,7 @@ All notable changes to this project are documented in this file.
 - Implement `handleQuitSignals()` function in System component (https://github.com/dic-iit/bipedal-locomotion-framework/pull/277)
 - Implement TaskSpaceInverseDynamics interface (https://github.com/dic-iit/bipedal-locomotion-framework/pull/279)
 - Implement `Wrench` class (https://github.com/dic-iit/bipedal-locomotion-framework/pull/279)
+- Implement `SO3Task` in `TSID` component (https://github.com/dic-iit/bipedal-locomotion-framework/pull/281)
 
 ### Changed
 - Move all the Contacts related classes in Contacts component (https://github.com/dic-iit/bipedal-locomotion-framework/pull/204)