Abstract: A wheeled mobility system, such as a wheelchair, having articulated limbs for providing a tractive force between the mobility system and a surface. The articulated limbs provide tractive locomotive forces under abnormal operating conditions wherein wheeled locomotion is inhibited by an obstacle or the like. Controlled drive motors coupled to the articulated limbs and the wheels of the mobility system provide for redundant actuation of the limbs and wheels. The wheeled mobility system is inherently omni-directional, provides superior mobility in difficult terrain or soil conditions, such as sand, clay, gravel and rocks, and further provides for surmounting of obstacles, such as steps, ditches and rocks. The limbs also give the chair versatility and allow it to be re-configured to satisfy the comfort requirements of the user. The limbs can further be used as a manipulator in order to perform tasks such as reaching for objects or pushing open doors.