kdlklm,.. I was surfing along and came across this post, I knew right away, we had talked over on hyd/pnu , Ive never shared and ideas with you, But have enjoyed reading this post, If you remember, I have three friends in wheel chairs, so, Iam Very intrested in building a prototype, and seeing these guys try it out! Iam leaning twards a zero turn chassie, It offers excellent mobility, and reasonably cheap to build, But Iam also looking at the 4x4, articulated, model that you posted a pic of, IMO, I would build it using (1) hydrostatic pump,..With 4 wheel motors, If you use a wheel motor with a (case drain) , you can run multipul motors, in series, and your speed will not change, The oil goes threw 1 motor,. then to the next, and so on, Very simple, You might need a flow valve or two, but I know It works and works good, as I have a small road grader set up this way, Than I would piggy back a small hyd pump for steering and hyd lift/attachments, Theres a real sharp guy over on hyd/pnumatics, kevinj, He might be able to help with the Pump/motor specs, :thumbsup: I love these kind of projects, and will help what i can, Eric