Hi Gill, I find Riche’s tapes are great as well and I like how he teaches drills in a way that allow us to take the ball and roll with it just as it seems you have done. Just wondering if you find yourself going to the ground while in a clinch or off a shove or just while trying to de-escalate the situation?
If it is when you are in a clinch or the person is trying to take you down and you slip on something you are still able to shred on the way down. By doing this you are not giving your opponent the opportunity to start striking you when you are down.
If it is off a shove or just while backing up while talking to your opponent I have found that awareness plays a big part in allowing you to use your footwork successfully. When I first started training I would find myself so absorbed in my opponent that I would back into walls or trip over things because I was not aware of my surroundings. The more I trained my awareness the less I went to the ground because while defusing the situation or getting shoved I knew where the wall/people/furniture/objects were and I could use my footwork to avoid them and stay on my feet.
Having said that I know that no matter how good you are there are times when you will find yourself on the ground. So to answer your question, the best way I have found to get comfortable with a situation is to train it. I would suggest you do scenarios from the ground. Place yourself in compromising positions and work from there. Take it slow at first and ask your partner to move in at medium slow speed. Read his body language and familiarize yourself with the mechanics of the attack that is coming at you (ie. kick to the head etc). Then play the opportunity game. What can you effectively do within the time it takes for you to say opportunity (another one of Rich’s drills that can be found in his tapes). Can you jam his kick with your forearm and trap it before the point of impact. Or rotate on the ground before he gets to you so that your legs are in the way and you can kick his legs to jam him etc.
Keep on training it until you find what works and then go all out like before. Your brain will now have files to access or options so that you will not find yourself frozen in the fetal position.
On a side note I find that when I’m on the ground with someone attacking me my hands and arms are out (kind of like the passive stance but on the ground) and I bring my knee to my elbow (sort of like when blocking a kick in kickboxing). This still lets me reflexively respond and have access to my weapons while creating a barrier. If the attacker has not entered into range yet I will lie on my side and kick his shin with my top leg as he approaches. When the opportunity arises I will get up in one movement from that position (took some practice to get it quick). In Senshido class we do drills like this with the attacker moving around you trying to get in while you keep him away with kicks until you see the chance to get up. I find it is a great drill. It is important not to kick to high as it allows the attacker to sweep the kick aside and enter.
Sorry for the long winded post [I had to stop myself from writing more

] hope this helps some,
Luke
“Aim for perfection”