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Ukemi-SafeFall: Ukemi-Inspired Injury-Aware Falling and Recovery for Humanoids

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Ukemi-SafeFall learns breakfall-style, injury-aware falling and recovery for humanoids. Condition-gated rolling and contact-force shaping cut normalized peak contact force by 32%, cumulative peak force by 78% and unsafe-contact events by 70% versus passive falling, with 98% recovery success and a 1.04 +/- 0.27s mean time-to-stand over 50 episodes. Accepted to Humanoids 2026.

HumanoidFall RecoveryRobot LearningReinforcement LearningSafetyUkemiHumanoids 2026
Category: humanoid
Author: @ducanhruoi
Date: 2026-10-08T00:00:00
Duration: 18.68s
Source: https://x.com/ducanhruoi/status/2108189100239114335
Reference: https://ukemi-safefall.github.io/

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