Patent ID: 8332068

Claim:
A method for controlling a robot having at least two legs, the robot falling down from an upright posture, the method performed by a computer system, and the method comprising: determining, by the computer system, a stepping location on a ground surface for the robot to step to in order to avoid hitting an object while falling, comprising: determining an allowable stepping zone where the robot is able to step while falling; and determining the stepping location within the allowable stepping zone, the stepping location maximizing an avoidance angle comprising an angle formed by a first line between the object to be avoided and a center of pressure of the robot upon stepping to the stepping location, and a second line between a reference point of the robot upon stepping to the stepping location and the center of pressure of the robot upon stepping to the stepping location, the reference point comprising a point on a ground surface where the robot can step in order to come to a stop given a state of the robot after stepping to the stepping location; controlling, by the computer system, the robot to take a step toward the stepping location.