1. A method comprising: receiving, by a robot, a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to the robot, wherein the robot comprises a body and a plurality of jointed limbs connected to the body, and wherein the jointed limbs are 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 jointed limbs of the robot; determining, based on the first plurality of measurements, the body orientation measurement, and the determined relationship, that at a future time the robot is predicted to be in an unstable aggregate orientation; and in response to determining that at the future time the robot is predicted to be in the unstable aggregate orientation, providing instructions to control at least one jointed limb of the robot to cause the robot to assume an alternative aggregate orientation that is more stable than the unstable aggregate orientation.