diff --git a/CHANGELOG.md b/CHANGELOG.md
index ad4d785..53511a9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,12 @@
 # Changelog
 
+## [2.3.0](https://github.com/utiasDSL/crisp_controllers/compare/v2.2.0...v2.3.0) (2026-04-09)
+
+
+### Features
+
+* Admittance Controller ([#47](https://github.com/utiasDSL/crisp_controllers/issues/47)) ([0c51c8b](https://github.com/utiasDSL/crisp_controllers/commit/0c51c8b6413da6d3738165536897083db0c2f608))
+
 ## [2.2.0](https://github.com/utiasDSL/crisp_controllers/compare/v2.1.0...v2.2.0) (2026-04-02)