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    "story_id": "mp-2026-10-20-016",
    "source_story_id": "tmp-brief-thrust-assisted-trotting",
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    "section": "robotics",
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    "headline": "The Biped Uses Thrusters to Keep Its Trot",
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    "dek": "Harpy's controller allocates ground force and active thrust at 500 hertz while solving each optimization inside a two-millisecond budget.",
    "summary": "Harpy's controller allocates ground force and active thrust at 500 hertz while solving each optimization inside a two-millisecond budget.",
    "body_text": "Inspired by birds that use wing thrust during locomotion, researchers implemented thrust-assisted trotting on the Harpy robot. Its quadratic-program controller regulated contact and thrust at 500 hertz; reported solves took 0.18 milliseconds. In two low-speed experiments, mean velocity tracked its reference and joint error stayed within one degree. The trials are limited, but they demonstrate the controller on hardware.",
    "why_it_matters": "Harpy's controller allocates ground force and active thrust at 500 hertz while solving each optimization inside a two-millisecond budget.",
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    "first_published_at": "2026-10-20T09:00:00.000-04:00",
    "modified_at": "2026-10-20T09:00:00.000-04:00",
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    "tags": [
      "bipedal robots",
      "model predictive control",
      "thrusters"
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  "sources": [
    {
      "source_id": "source-2026-10-20-018",
      "title": "arXiv preprint 2610.26810, original v1",
      "publisher": "arXiv",
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      "published_at": "2026-10-19T13:50:01.000-04:00",
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    "description": "A daily newspaper for the age of artificial intelligence."
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    "title": "The Biped Uses Thrusters to Keep Its Trot",
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