Our son is exactly the same. He has never kept still for any length of time, and literally as soon as he was awake he would be bouncing in his cot and not keep still until he was asleep again.
The only thing I did that helped was to accept that is how he is and will never be the 'sitting in the library looking at a book quietly' type - he is an absolute whirlwhind. Maybe try and get her out and about as much as possible, parks, walks, softplay areas, playgroups and more parks and walks. Don't avoid these situations because she runs off etc because otherwise she won't be able to burn off the energy she has.
As soon as Alfie could walk at 15 months he refused point blank to get in his buggy and hasn't stopped yet!
PLaygroups are great because they are with other children and see what they are doing - and even though like yourself, I had an escapee at playgroups, he eventually realised that it was more fun to play with the children rather than running away from them.
Alfie is 4 now and can't imagine he'll ever change, nor would I want him to now I know that's just how he is. He wakes at 6 and is non stop chatter and running around until bed at 7pm - he is exhausted by then! Got another boy due in 3 weeks and everyone jokes / teases that he will be the same as Alfie and I'll be grey within a year!
As I write this Alfie is dashing around playing with his toys and teasing the kitten!! Hard work at times, but I wouldn't change it for the world. Some points of motherhood are certainly not as I imagined them to be when I was pregnant first time around, but I just had to adapt my expectations and sometimes it's just easier and better to leave Alfie as he is - after all, you can't change the nature of a beast!