The Segway is very popular an even has been used in Beijing Olympic Games. Toyota unveiled its own mini Segway—Winglet http://www.inewidea.com/2008/08/06/6527.html.Both Segway and Winglet are all driven by wheels, but the one called Cajun Crawler is actually a Segway driven by insect legs.

It is also based on Dynamic Stabilization, but the legs are pretty weird. Although the user will not feel the differences, it is very fun for passersby.