diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5ed33f324c..d0ec4f39f5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -3,6 +3,8 @@ All notable changes to this project are documented in this file.
 
 ## [Unreleased]
 ### Added
+- Add the reading of the orientation of the head IMU in `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/471)
+
 ### Changed
 ### Fix
 
diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/mas-remapper.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/mas-remapper.xml
index cd8d8870f1..fa6d4bbffd 100644
--- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/mas-remapper.xml
+++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/interface/mas-remapper.xml
@@ -14,6 +14,9 @@ GNU Lesser General Public License v2.1 or any later version. -->
     <param name="ThreeAxisMagnetometersNames">
       (rfeimu_mag)
     </param>
+    <param name="OrientationSensorsNames">
+      (rfeimu_eul)
+    </param>
 
     <action phase="startup" level="5" type="attach">
         <paramlist name="networks">
diff --git a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml
index 683b528864..84e274ca36 100644
--- a/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml
+++ b/devices/YarpRobotLoggerDevice/app/robots/iCubGenova09/yarp-robot-logger.xml
@@ -35,6 +35,7 @@ GNU Lesser General Public License v2.1 or any later version. -->
       <param name="accelerometers_list">("rfeimu_acc")</param>
       <param name="gyroscopes_list">("rfeimu_gyro")</param>
       <param name="magnetometers_list">("rfeimu_mag")</param>
+      <param name="orientation_sensors_list">("rfeimu_eul")</param>
     </group>
 
   </group>