From tripod headstand, bring the legs down, rest them on the upper arms. Relax the weight onto the arms, lifting the head off. Bakasana, crow pose!
One trick to balancing: If the body feels like it’s about to fall down (the direction you came from), push the clasped hands stronger against the back of the skull.
If you are about to fall back (going over in the direction you cam up), then loosen the clasped hands against the head.
In this way, the hands help regulate your balance.