Patient transport apparatus with controllable auxiliary wheel assembly

A patient transport apparatus for transporting a patient over a surface, the patient transport apparatus comprising:

• a base;
• support wheels coupled to the base and swivelable about swivel axes;
• an auxiliary wheel assembly coupled to the base and comprising first and second auxiliary wheels configured to move between a plurality of wheel positions, the auxiliary wheel assembly further comprising first and second actuators operably coupled to the first and second auxiliary wheels to move the first and second auxiliary wheels between the plurality of wheel positions;
• a sensing system comprising a sensor to detect a motion condition of the patient transport apparatus;
• and
• a controller coupled to the sensing system and to the first and second actuators, the controller being configured to drive the first and second actuators to move the first and second auxiliary wheels between the plurality of wheel positions based on the motion condition of the patient transport apparatus.