Today, the Razor IMU sensor, seems to be the more close to Poppy project needs. But one of the issues is to find where to place this sensor. I had the idea to place it below the pelvis part like on this photo:
http://poppy.discourse.group/uploads/poppy/_optimized/aff/cb9/55f417b3a5_375x500.JPG
But this is done with Patafix and Puppet strings…
It could be useful to draw an interface to fix the Razor at this place. The Razor shall be placed horizontally to avoid risky conversions in software.
The other thing is that When the Razor is at this place, Poppy can sit down more easily.