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, the learned control parameters indicating a learned stepping location of a free leg, a learned left shoulder angle for controlling a position of the left arm, and a learned right shoulder angle for controlling a position of the right arm, wherein the learned control parameters control the robot to impact the ground with a foot of the free leg and two hands such that the robot reaches a balanced position supported by the foot and the two hands that prevents its torso from impacting the ground; controlling the robot during the fall based on the learned control parameters to take a step with the free leg to the learned stepping location, to control the left arm to achieve the learned left shoulder angle, and to control the right arm to achieve the learned right shoulder angle; and after the free leg impacting the stepping location, locking the leg joints and locking the arm joints in a stretched position.