I just posted about how to do something similar to this using the gyrometer in a
Sphero robot (see the linked notebook), but I think this is similar to what you want.
Manipulate[Dynamic[Graphics3D[{Yellow, Opacity[.8],
Rotate[
Rotate[
Rotate[
PolyhedronData["Spikey", "Faces"],
roll, {0, 1, 0}],
pitch, {1, 0, 0}],
yaw, {0, 0, 1}]
}]], {roll, 0, 2 Pi}, {pitch, 0, 2 Pi}, {yaw, 0, 2 Pi}]