A wheelchair (100) for traversing obstacles includes a frame (142), a pivoting assembly, and a drive assembly (136,309). The pivoting assembly has at least one pivot arm (132). The at least one pivot arm includes a first portion pivotally coupled to the frame and a second portion having at least one front caster (106) attached thereto for normally contacting a supporting surface of the wheelchair. The drive assembly is coupled to a third portion of the at least one pivot arm. The at least one pivot arm pivots in response to a moment generated by the drive assembly and thereby raises the at least one front caster between one and six inches from the supporting surface to assist the wheelchair in traversing the obstacles.
