Abstract: 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 reaction command, and the verification command, are given. We experimented speech recognition by Julian, and obtained a successful recognition rate 98.3%, 97.0% of the movement command and the verification command, respectively. The running experiment with three persons was carried out in the campus room and the utility of our system is shown.