Journal of Bionic Engineering (2025) 22:480–512 https://doi.org/10.1007/s42235-024-00643-y

A Review of Fall Coping Strategies for Humanoid Robots 

Haoyan Zhang1  · Jiaqi Wu1  · Jiarong Fan2  · Yang An1  · Xingze Jin1,3 · Da Cui1  · YiRu Yang1

1 School of Mechanical and Aerospace Engineering, Jilin  University, Changchun, China 

2 School of Journalism and Communication, Jilin Normal  University, Jilin, Changchun, China 

3 Chongqing Research Institute, Jilin University, Chongqing,  China

Abstract 

Humanoid robots exhibit structures and movements akin to those of humans, enabling them to assist or substitute for  humans in various operations without necessitating alterations to their typical environment and tools. Sustaining balance amidst disturbances constitutes a fundamental capability for humanoid robots. Consequently, adopting efficacious  strategies to manage instability and mitigate injuries resulting from falls assumes paramount importance in advancing the  widespread adoption of humanoid robotics. This paper presents a comprehensive overview of the ongoing development of  strategies for coping with falls in humanoid robots. It systematically reviews and discusses three critical facets: fall state  detection, preventive actions against falls, and post-fall protection measures. The paper undertakes a thorough classification of existing coping methodologies across different stages of falls, analyzes the merits and drawbacks of each approach,  and outlines the evolving trajectory of solutions for addressing fall-related challenges across distinct stages. Finally, the  paper provides a succinct summary and future prospects for the current fall coping strategies tailored for humanoid robots. 

Keywords Humanoid robots · Fall coping strategies · Fall detection · Fall prevention manoeuvre · Post-fall protection