Wheel chairs are used by physically disabled and elderly people. Conventionally used wheel chairs contain two big wheels and also two small wheels in the front. Such wheel chairs can travel easily on smooth and even surfaces. However when it comes to rough and uneven surfaces like muddy areas, stony roads, or sloppy surfaces, the disabled person must depend on another person for help or he must use an off-road or an all-terrain vehicle. However, this disadvantage can be overcome if the wheels are replaced by a crank-driven leg like walking mechanism called Jansen’s linkage.In general, when a wheel based vehicle moves on uneven surfaces, higher torque is required for movement along such terrain. If the terrain is too uneven, the vehicle or the wheel chair can overturn due to the overturning moment caused by the obstacle. However, if we use a mechanism that shows intermittent walking gait characteristics, similar to the walking motion of a pair of legs, the vehicle and hence the wheel chair can “step over” the obstacle without having to climb on it, thus reducing the required torque and reducing the dependency of the disabled person on another person for help.