Update Changelog.md

dartsim · Oct 18, 2016 · 73eb001 · 73eb001
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 ### Version 5.1.5 (201X-XX-XX)
 
+1. Increase minimum required Ipopt version to 3.11.9
+    * [Pull request #800](https://github.com/dartsim/dart/pull/800)
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 1. Added support of urdfdom_headers 1.0 for DART 5.1 (backport of [#766](https://github.com/dartsim/dart/pull/766))
     * [Pull request #799](https://github.com/dartsim/dart/pull/799)