Yes, I believe this is called, "zempo ukemi".
Note that this is not "zempo kaiten ukemi". The "kaiten" part means rolling, and without rolling, you simply have "zempo ukemi".
I didn't find much on the subject on the web. There is this page which you can send to Google Translate:
It describes the Zempo Ukemi as a "forward fall using forearms and thighs or toes to cushion the fall. It is also recommended turning the head to one side to avoid a blow in the face."
I also found this article:
It seems the author of that article also sees this as a "zempo ukemi", but isn't completely sure about the name.
In Aikido circles, I see this often referred to in English as the "soft" version of the front breakfall.
And in English, I see it often referred to as "The Worm" breakfall (probably named after the dance move by the same name). Oh, and I've also seen it referred to as "The Wave" breakfall.
I think the reason for the naming confusion might be that this actually has no specific name in Japanese. There are many versions of "mae ukemi" (front breakfalls), each with a particular variation. Like you might see a traditional front breakfall, the kind without the rolling, but instead of falling down straight, you do a kind of split outwards with your legs and fall from the center of mass instead. We used to call that a "parachute" front breakfall, because you're straddling your legs out like a parachute. But in Japanese, this is still just called mae ukemi. They don't usually distinguish it from the regular version.
And there are other types of mae ukemi as well. They're all named "mae ukemi". Like the Bujinkan ninjutsu guys have a variation of mae ukemi where you go down on one knee while pressing back up into the air with the other leg.
That's about all I can offer on this subject.