A wheelchair assembly including a control device, a power base, and a plurality of leg modules coupled to the power base is disclosed. Each of a first, a second, and a third leg module may include an upper leg assembly and a lower leg assembly. Each lower leg assembly may include a knee joint and a foot joint and each lower leg assembly may rotatably couple to each upper leg assembly at the knee joint. A knee wheel located at the knee joint of each lower leg assembly, may include an omni-directional wheel, and may be selectively drivable. A foot wheel located at the foot joint of each lower leg assembly may be selectively drivable. The control device, based on a selectable mode of operation, may selectively position at least one of the knee wheel or the foot wheel associated with each respective leg module relative to a surface.
