From New Scientist:
They found that one of the main ways to minimise damage is for the robot to fold its legs underneath it. Among other things, that means the robot is much less likely to hit its head on the ground. Another good strategy is to use a fall sequence consisting of several movements, so the falling body has several points of contact with the ground, spreading the energy of the impact over a large number of joints, rather than taking it all in one disastrous crunch.
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