YouTuber James Bruton has made a self-balancing robot with motorized active suspension, inspired by Sonic the Hedgehog and Boston Dynamics. Bruton has published a three part video series about the project on his Youtube channel.
One of most interesting things about this build is the construction of the robot body, which has two mechanical “knees” that bend using ball screws. These knees operate independently of each other, giving the robot active suspension and allowing the robot to lean sideways when turning corners.
Bruton uses brushless motors and ODrive to control the robot, partnered with a Teensy 3.6 and an MPU6050 for processing and stability. You can read an article with more details about this self-balancing robot on Hackster.io or if you’re inspired to have a go at making something similar, the CAD files and code for Bruton’s projects are published on his GitHub. You can support his work on Patreon or by subscribing to his YouTube channel.