1. A computer-implemented method for controlling a robot during a fall to the ground, the method comprising: determining a state of the robot following a determination that a fall cannot be prevented; mapping, by a processor, the state of the robot to learned control parameters corresponding to the state of the robot, wherein the learned control parameters control the robot to impact the ground with a foot and two hands reaches a balanced position supported by the foot and the two that prevents its torso from impacting the ground; and controlling the robot during the fall based on the learned control parameters.