1. A method for controlling a robot having at least two legs, the robot subjected to an event that requires the robot to take a step to prevent a fall, the method comprising: determining a current capture point, 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 without taking any additional steps, determining an updated current capture point based on a state of the robot after taking the capture step.