I'd describe Kalman filters as where linear algebra meets statistics. (
https://www.cs.unc.edu/~welch/kalman/ is a good intro to the stuff, page 6 of his
https://www.electro-tech-online.com/custompdfs/2006/06/kalman_intro.pdf has a useful diagram which lays out the basic equations).
My offhand/wild-guess answer would be "no" (It's the easy answer too...)
A more detailed answer might be:
A Kalman filter requires some model of the system. In the case of an accelerometer on the robot, you would need some function which relates the actuators to the sensors. In wavy-hand talk, (A real simple) Kalman filter is going to try to cancel out the contribution of the actuators on the sensors, and is then going to perform a running average on the resulting values.
Now the tricky part is finding the relationship between the actuators and sensors - either by measurement, or more typically another Kalman filter. The problem with accelerometers is that they're going to "see" gravity, and unless you can cancel it out (oh, wait, we're trying to find bias here, aren't we), this second filter would try to figure out which way the slope is while the robot is changing orientation.
The way Kalman filters tend to be used in accel/gyro type applications is that their primary purpose is to estimate the current state - position/orientation/velocity/acceleration. Additionally more information from compasses/gps/vision are gathered and fed into the same Kalman filter. Bias values are usually pulled out as an after thought. The strength of the Kalman filter is that it can use redundant information from different inputs to constrain the state of the system to something reasonable. If you're interested in this stuff, it usually goes under the keywords "sensor fusion".
For small robot stuff, I'd recommend that you take the general concept - figure out how the actuators(motors) and sensors(accelerometers) interact, and do a first-order type correction. Encoder values would be good, but just using "pwm" values would be sufficient. Turning requires you figure out the turning radius to figure out the sideways component. - And hope that you don't go up and down any slopes while this is happening cause that'll just throw a big wrench into the works.