Yes, endure is a move that leaves the user with 1 HP when used. It's a priority move, like Protect though it's not exactly the most useful thing in the world, unless you have say... a FAST Lucario who set up a Swords Dance, then used Endure, and finally used a move like Reversal(A move that gets stronger the lower the user's HP is). This strategy can apply to quite a few Pokemon, Weavile, a Zaician & Zamazenta, Koraidon, and even Cinderace. Only problem with this is that most Pokemon that can achieve this aren't all that bulky, especially Weavile, Cinderace and Lucario, and can easily get outsped and oneshot by faster Pokemon with Super-effective moves, if you're not careful. So it's not used all that much.
(Flail can also be used and is exactly like reversal, but is used for different Pokemon and is a Normal-Type move, instead of a Fighting-Type move, and most of the fast Pokemon that can use Flail and Endure, like Jolteon, Talonflame and... Raichu, for some reason, are more Special Attack Heavy, so you're just better off with something else for them. Besides, Reversal is more useful than Flail offensively anyway so there's hardly any point in using Flail in the first place)
Sturdy is an ability that leaves the user with 1 HP, and acts like a focus sash
A focus sash is an item that leaves the Pokemon equipped with 1 HP
And a focus band has a 10% chance to leave your Pokemon on 1 HP, similar to the "[Pokemon] Toughed it out so you wouldn't feel sad!" If you have high friendship/affection with your Pokemon.
Also there's False Swipe, which leaves the Pokemon you attacked with 1 HP left.