Powered wheelchairs and methods for maintaining a powered wheelchair in a pre-selected position

A powered wheelchair comprising:

• a seat;
• a first leg located at a first side of the powered wheelchair, the first leg comprising a first inertial measurement unit configured to determine a position of the first leg and a first leg actuator configured to adjust a position of the first leg;
• a second leg located at a second side of the powered wheelchair, the second leg comprising a second inertial measurement unit configured to determine a position of the second leg and a second leg actuator configured to adjust a position of the second leg;
• and
• a control unit operable to:
• determine a global orientation of the powered wheelchair by averaging the position of the first leg provided by the first inertial measurement unit and the position of the second leg provided by the second inertial measurement unit;
• and
• automatically adjust the position of the first leg with the first leg actuator and the position of the second leg with the second leg actuator based on the global orientation of the powered wheelchair such that the seat is maintained in a pre-selected position.