Unstable robots such as humanoids are at high risk of hardware damage due to falls. In this study, the purpose is to mitigate the impact of a fall by using a folding umbrella. When the robot falls over due to external force, the folding umbrella is released to mitigate the shock to the body by detecting and predicting the fall based on the angle and acceleration information obtained by the Inertial Measurement Unit (IMU). The robot recognizes the fall pattern by IMU and performs a fall recovery action according to each pattern.