How old is Chimi? How big is he?
How are you getting Chimi/holding him? Beardies can take time to get used to people, and they need to be approached gently. Try petting Chimi (run your finger along his back, stroke his beard and the top of his head, etc) before picking him up. When picking him up, slide your hand under his chest/belly and allow him freedom of movement to adjust himself on your hand/arm, making sure all of his limbs are supported.
If he is often falling, I would suggest holding him at a low level. Sit down with him on the floor so that if he falls it isn't far. If he ends up on the floor, don't pick him up right away (although, make sure he doesn't show any signs of being injured, of course). Maybe he would like to explore and get a chance to know the general area of the room. (If he's very small you can put some blankets around the bed and handle him on the bed, giving him a small space to explore without getting lost.) He can then approach you - and other items in the room - as he wants to.
Hmm ive tried this before but it didnt work
Chimi is around 9 months now and 16 inches long, i guess he is already a sub adult. Is it because in the past few months i wasnt interacting with him that much as compared to now?
I hope that helps...