The invention provides for a method of maintaining artificial turf using a turf maintenance robot. The artificial turf comprises an artificial turf carpet, wherein the artificial turf carpet comprises turf fibers which form an artificial turf surface. The artificial turf fibers have a grain. The artificial turf comprises artificial turf infill distributed between the artificial turf fibers. The turf maintenance robot is a self driving robot, wherein the turf maintenance robot comprises a memory for storing turf grain data, descriptive the grain of the artificial turf fibers. The method comprises brushing the artificial turf surface by the turf maintenance robot. The turf maintenance robot performs the brushing dependent upon the turf grain data.