사족보행 로봇 연구 기록
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V1 · 소프트웨어 · Oct 19, 2026

Grass terrain

Pupper in grass 3–9 cm tall (simulation rendering)
Pupper in grass 3–9 cm tall (simulation rendering)
The same scene from grass level
The same scene from grass level

Grass joins the simulator's terrains. The pictures show it rendered as blades 3–9 cm tall; in training it slows the lower legs below the grass height, over mildly uneven ground, with height and resistance rising by difficulty level.

  • Rendering only: about 160,000 blades on soil, with sun, shadows and fog; the legs pass through the blades
  • Training model: resistance on the lower legs below the grass height, as one terrain type of the multi-terrain field
  • First run, being set up: the multi-terrain walk trained further on a field with grass, against the same steps without it