I want to control the movement of humanoid robots. will be possible if I use some control methods such as PD over Gyroscope, and by applying control methods over Gyroscope I control the movement of humanoid robots?
You can use the gyroscope only to measure the current state of each joint, but i not understand what you referred exactly.
There are some methods for controlling stability when the robot walks as a Zero Moment Point (ZMP), and you can use the Gyroscope + Accelerometer to measure the deflection angle and correct it using the inverse kinematic approach.