PURPOSE: A wheelchair is provided, which can pass obstacles like stairs through two caterpillar devices. CONSTITUTION: A wheelchair comprises: a frame(110); a seat part(120) capable of pose control, which is prepared in the frame; a front wheel(130); a primary wheel(140) and a steering wheel; and a caterpillar device(150) capable of passing through obstacles. The caterpillar device comprises a main caterpillar(160); a secondary caterpillar(170) prepared in a separate shaft; and a power unit for driving the main caterpillar and secondary caterpillar.
