Designing Fall Sequences That Minimize Robot Damage in Robot Soccer. - Javier Ruiz-del-Solar; Rodrigo Palma Amestoy; Paul A. Vallejos; Román Marchant; P. Zegers (RoboCup, 2008)

Learning to fall: Designing low damage fall sequences for humanoid soccer robots. - Javier Ruiz-del-Solar; Rodrigo Palma Amestoy; Román Marchant; Isao Parra-Tsunekawa; P. Zegers (Robotics Auton. Syst., 2009)