Abstract: A vehicle includes a suspension system for providing configurable stiffness and damping. The system includes a plurality of hydraulic cylinders, each corresponding to a respective wheel of the vehicle, and one or more valve assemblies for controlling hydraulic fluid in the plurality of hydraulic cylinders to achieve a plurality of suspension modes affecting bounce, pitch, roll, and warp. The system also includes a plurality of accumulators acting as spring elements for storing and releasing the hydraulic fluid as the plurality of hydraulic cylinders compress and rebound. The system includes control circuitry for controlling the valve assemblies to achieve one or more suspension modes defining bounce, pitch, roll, and warp stiffnesses. By generating control signals for the valve assemblies, various interconnections or fluid paths can be achieved, corresponding to the suspension modes. The hydraulic cylinders are double acting, with rebound and compression volumes, and may be coupled to damping valves.