Ways To Add Gyro & Accel To ARC

Have a great 21 dof biped robot made of modified inexpensive servo brackets from china. With ezb4 it can dance, do pushups, sit, and respond to questions u ask from a growing script made to simulate A.I. However when it comes to walking forward, a set repeating script limits it to a flat predictable surface. How can a gyro plus accelerometer be added into this equation? I know arduino has code for servo control projects like balancing tables, etc. could you have arduino and ezb4 work together to make this happen with a robot with 18+ servos? or can ezbv4 alone simply accomplish this. I'm sure there are a lot of other projects out there that could be turned 360 with a feature like this.