Abstract: A mobility device, including a base, a first omnidirectional wheel mounted at a first side of a forward portion of the base to rotate about a first axis, a second omnidirectional wheel mounted at a second side of the forward portion of the base to rotate about the first axis, a third wheel mounted at a rearward portion of the base to rotate about a second axis, a drive system to move the first omnidirectional wheel, the second omnidirectional wheel, and the third wheel according to input received indicating a desired motion of the mobility device, a seat for a user of the mobility device, and a linear actuator coupling the seat to the base to drive the adjustable seat in a vertical direction according to the input received indicating the desired motion of the mobility device.