1. A method for controlling a robot having at least two legs, the robot falling down from an upright posture and the robot located near a plurality of surrounding objects, the method comprising: determining a plurality of predicted fall directions of the robot, each predicted fall direction associated with a foot placement strategy for avoiding the plurality of surrounding objects; determining a degree to which each predicted fall direction avoids the plurality of surrounding objects; selecting a best strategy from the plurality of foot placement strategies, the selecting based on the degree to which each predicted fall direction avoids the plurality of surrounding objects; and controlling the robot to implement the best strategy.