In order to assist physically handicapped persons, we developed a voice controlled wheelchair. The user can control the wheelchair by voice commands, such as “susume (run forward)” in Japanese. A grammar-based recognition parser named “Julian” is used in our system. Three type commands, the basic reaction command, the short moving reactioncommand, andtheverificationcommand, aregiven. WeexperimentedspeechrecognitionbyJulian ,andobtained a successful