地形与户外仿真

在户外和崎岖地形环境中仿真机器人：高度图、可变形地形、足式运动和野外机器人仿真。

Learning Objectives

1. Challenges of Outdoor Simulation

2. Terrain Generation

2.1 Heightmap-Based Terrain

2.2 Procedural Generation

2.3 Real-World Terrain from DEM Data

3. Deformable Terrain

3.1 Granular Material Simulation (MuJoCo)

3.2 Soil & Sand Models

4. Legged Robot Simulation

4.1 Quadrupeds (Spot, Go1, A1)

4.2 Humanoids

4.3 Contact-Rich Locomotion

5. Weather & Lighting

6. ROS 2 Integration for Field Robots

Exercises

References