The right accellerometer

Hi all!
I am under depth development of a quadruped robot, here a vid:

After many, many tests to perfect the balance of the robot, It's finally the time to add an accelerometer to allow the legs to change position to allow to maintain a constant center of gravity of the robot main body.

While I was on search about something about accellerometers I find that video:

Later I find someone talking about accellerometers like the MPU 9510

So,what do you recommend? What 's the perfect mix of features, price and ease' of use of these sensors?
Have you experiences in this matter?

Thank you in advance!