The disclosed articulated wheel assemblies and associated vehicles, for example wheelchairs, include articulated wheel assemblies with at least one offset connecting arm rotatably attached at one end to a payload platform, for example a seat, and attached at the other end to a linear actuator, where the linear actuator is further connected to a wheel. Embodiments include a rotary actuator for varying the linear actuator swing angle, a rotary actuator for eccentrically rotating a hubless wheel, a linear actuator motor for varying the length of the linear actuator, and a propulsion motor. Embodiments provide omnidirectional motion, stepping action when presented with obstacles, irregular surface negotiation, tight space maneuvering and other features to provide disabled people increased mobility. Alternate embodiments include a payload platform with a support strut, which is rotatably attached to an offset connecting arm and pivotally mounted to a seat.