The main objective of this dissertation is the development of a network of inertial sensors constituted by a set of \aclp{IMU} consisting of accelerometers, gyroscopes and magnetometers (the latter were discarded in the project). It is intended that this network of sensors enables the humanoid robot \acs{PHUA} - \acl{PHUA} acquire information necessary for its balance.
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The first step of this work consisted by characterization of two types of inertial units, the \textit{RAZOR - SEN 10736-9 DOF} and \textit{Pololu - MinIMUv2 - 9 DOF}, with the aid of an anthropomorphic robot arm. The results of this evaluation are presented in the work.
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Then, the inertial network structure was developed using a central processing unit, a development platform \textit{Arduino} multiplexed with eight control units based on the communication protocol $ I ^ {2} C $, plus a communication \textit{RS232} with the ninth unit.
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The developed network supports a maximum of nine units inertial, with an acquisition rate of 7 \textit{Hz}. The network's operation is not dependent on the number of units used and can operate with any number of units between 1 and 9 units.
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The network was installed in inertial humanoid robot, and tested during the execution of simple movements, allowing to conclude the feasibility of the network in various situations.