I found a Swiss company named Yoctopuce which makes a lot of domotic applications “to USB” but at a very low cost.
I have ordered an USB IMU at 40€… and an USB ADC at 26€ to test on my robot. I wish I will give you some feedback as soon as possible.
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I just received it. It is smaller than on the photos… I will test it as soon as possible.
We would be indeed interested to have your feedback 
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I did the first tests which consist in taking the roll attitude value computed by the yocto 3d and copying it to a servo dxl.
First of all I created an architecture to work. I am not used to develop with windows.
I work on an ubuntu on an independant small computer with an i7.
The way to program with yocto is very easy but there is somethink strange.
The command get_roll() returns the roll angle value. I computed the sampling rate and it is around 32ms… I though it could be faster… BUT
There is another mode using a timer callback associated to the variable. In this callback, we can get the value of the roll. And the most important is that the period can be specified up to 10ms !
And it works… I just have some issues with multi thread variables sharing to copy roll in the dxl thread but it is only programming issue…( i wish)
I approach a good research architecture for biped control
I finally plugged this new architecture on a biped robot and the performances of sensors are very good. I have a 95hz measure of pitch and roll angle and detection of heel strike at 100hz. (There is a LED on electronic card for each input… It is simple but perfect for debug)
I plugged the inputs to an user interface at 40ms and it works well.
Next step : make it work with USB2AX…
I plugged usb2dxl with the yoctopuce on a 8dof robot and it works.
I have a 100hz control loop architecture with a real time 25hz graphical interface.
Therefore i validate the use of yoctopuce and pypot low level functions.
I will make a video as soon as possible.
I just have an issue with pypot but I think I forgot something. I open a new subject about this.