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We address the problem of humanoid falling with a decoupled strategy consisting of a pre-impact and a postimpact stage. In the pre-impact stage, geometrical reasoning allows the robot to choose appropriate impact points in the surrounding environment and to adopt a posture to reach them while avoiding impact-singularities and preparing for the postimpact. The surrounding environment can be unstructured and may contain cluttered obstacles. The post-impact stage uses a quadratic programdoi:10.1109/icra.2017.7989553 dblp:conf/icra/SamyBK17 fatcat:ka5dcmdtznblxa3ogqxuhzbnma