1. A method comprising: receiving, from a plurality of sensors connected to a robot, a first plurality of measurements indicative of respective joint angles of a plurality of jointed limbs, wherein the robot comprises a body and the plurality of jointed limbs is connected to the body, and wherein the plurality of jointed limbs is associated with respective properties; receiving a body orientation measurement indicative of an orientation of the body of the robot; determining a relationship between the first plurality of measurements and the body orientation measurement based on the respective properties associated with the plurality of jointed limbs of the robot; determining, based on the first plurality of measurements, the body orientation measurement, and the determined relationship, a predicted aggregate orientation the robot is estimated to be in at a future time; before causing the robot to assume the predicted aggregate orientation, determining, based on the predicted aggregate orientation, that the predicted aggregate orientation is an unstable aggregate orientation; and in response to determining that the predicted aggregate orientation of the robot is an unstable aggregate orientation, providing instructions to balance the predicted aggregate orientation by causing the robot to move at least one jointed limb of the plurality of jointed limbs of the robot.