balancing leg

This leg is driven by two RC hobby servos in a gimbal configuration. Given the large amount of easily obtainable and low-cost accelerometers and gyroscopes, do you think it can be made to balance on its own. Two holes for M3 bolts are meant for a pcb with the sensor and the brain.
parts list:
printed parts:
1x servo-bracket
2x servo-plate
1x inner-cam_bolt
1x inner-cam_nut
1x outer-cam_bolt
1x outer-cam_nut
1x slider-block
1x angle-bracket
1x ball
purchased items:
2x RC servo, I used digital Jamara 33215 servos (round horn d= 21mm, t= 2mm)
1x upper-rod (d= 6mm, l~100mm)
1x lower-rod (d= 6mm, l~150mm)
6x M4x16 and nuts (for cams and slider)
4x M4x12 and nuts (for angle bracket and servo plates)
4x M3x10 and nuts for the servos