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 properties associated with the jointed limbs of the robot; estimating an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship; and based on the estimated aggregate orientation of the robot, providing instructions to control at least one jointed limb of the robot.