1. A method comprising: receiving, from a plurality of sensors connected to a robot, a plurality of measurements indicative of respective joint angles of jointed limbs connected to a body of the robot; receiving a body orientation measurement indicative of an orientation of the body of the robot; estimating an aggregate orientation of the robot based on the plurality of measurements and the body orientation measurement; determining that the estimated aggregate orientation is unstable based on a particular angle of the estimated aggregate orientation having more than a non-zero threshold value, wherein the particular angle is one of a yaw angle, a pitch angle, or a roll angle; and in response to determining that the estimated aggregate orientation is unstable, providing instructions to control at least one of the jointed limbs to cause the robot to assume an alternative aggregate orientation in which the particular angle has less than the non-zero threshold value.