A slightly expanded sketch - not 3D yet - showing the basics of the drive assembly with active suspension and steering. Only the front 2 wheels need suspension but all 4 wheels can have steering to get really good control over this creature.

The drive motor is not in it's 3D position and it drives the wheel via chain and sprockets - chain tensioner is not shown.

Suspension is controlled via a motor rather than having a spring. The weight on the drive unit will be proportional to the current going through that particular suspension motor. Low current means low weight which means the wheel needs to have more connectivity with the ground.