This is an old game I'm trying to find a copy of. Step one would be remembering the title, so here I am.
It was a lot like Final Fight/Double Dragon/Streets of Rage (@_@ A Genesis Game! @_@)
The only thing I can remember for sure is the names for some of the main villians came from the works of Shakespeare. The main bad guy was Iago, he was short and stocky compared to the other characters and wore rounded, yellow armor. The surprise end boss was named Tybalt; he looked like one of the main characters did when they went into Super-Hyper-Kick-*** Mode (or whatever it was actually called).
As for the rest of the game, I think there were multiple paths through each level; possibly extra characters that'd join up with you; definately a futuristic feel to it. Robots, blue lightning effects and the like.
Alright, what's it called?