diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6d005e52c2..96c8c960c6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,7 @@ All notable changes to this project are documented in this file.
 - Expose the CoM trajectory computed by the `CentroidalMPC` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/712)
 - Implement python bindings for `CameraBridge` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/695)
 - Implement `constructRDGBSensorClient()` in `RobotInterface` component (https://github.com/ami-iit/bipedal-locomotion-framework/pull/695)
+- Added the ``DistanceTask`` and ``GravityTask`` to the IK (https://github.com/ami-iit/bipedal-locomotion-framework/pull/717)
 
 ### Changed
 - Use `std::chorno::nanoseconds` in `clock` and `AdvanceableRunner` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/702)