1. A method for controlling a robot having at least two legs, the robot subjected to an event that initiates a fall of the robot, the method comprising: determining a first state of the robot following the event that initiates the fall; determining, by at least one processor, a current capture point based on the first state of the robot following the event that initiates the fall, the current capture point indicating a location on a ground surface; controlling the robot to take a capture step toward the current capture point; and responsive to the robot failing to reach a stopped state and continuing the fall after taking the capture step, determining a second state of the robot during the fall and determining an updated current capture point based on the second state of the robot during the fall after taking the capture step.