Try not to worry, you would just know if there was something wrong!
Things happen like this all the time. My LO has probably fallen off the couch/chair/bed like 10+ times! Each time I feel so guilty but unfortunately it just happens. He actually just tripped up and banged his head and has a HUGE bump on his forehead, I feel so guilty LOL it doesn't get any easier as they get more mobile and actually hurt themselves! Don't worry about it.