Motorized movement device comprising: - a frame; - a first and second (102") wheels connected to the frame, and a first and second motors connected respectively to the first and second (102") wheels and commandable by respective command signals (I left, I right) characterized in that the motorized movement device comprises: - an inertial measuring unit configured to detect the longitudinal acceleration (a x), the pitch angular speed (ω y), and the yaw angular speed (ω z) of the movement device and for providing signals representative of the same; - sensors for detecting the speeds (v left, v right) of said first and second (102") wheels configured to provide signals representative of the same; - a control unit comprising: • a module for estimating the slope (α) based on the signals representative of the longitudinal acceleration (a x), of the pitch angular speed (ω y), and of the speeds (v left, v right) of said first and second (102") wheels; • a module for estimating the longitudinal thrust (F x) exerted by a user to the device based on the signals representative of the longitudinal acceleration (a x), of the speeds (v left, v right) of said first and second (102") wheels, of the command signals of the motors (I left, I right) and of the estimated slope (α); • a module for estimating the yaw torque (τ z) applied by the user on the movement device based on the signal representative of the yaw angular speed (w z); • a module for compensating the slope, configured to determine a slope compensating force (F slope) based on the estimated slope (α); • a thrust amplifying module, configured to determine a thrust aiding force (F push) based on the estimated longitudinal thrust (F x); • a yaw torque amplifying module, configured to determine a steering aiding force (F z) based on the estimated yaw torque (τ z); • a torque allocating module, configured to determine said command signals (I left, I right) of the first and second motors based on the slope compensating force (F slope), on the thrust aiding force (F push) and on the steering aiding force (F z). - a frame; - a first and second (102") wheels connected to the frame, and a first and second motors connected respectively to the first and second (102") wheels and commandable by respective command signals (I left, I right) characterized in that the motorized movement device comprises: - an inertial measuring unit configured to detect the longitudinal acceleration (a x), the pitch angular speed (ω y), and the yaw angular speed (ω z) of the movement device and for providing signals representative of the same; - sensors for detecting the speeds (v left, v right) of said first and second (102") wheels configured to provide signals representative of the same; - a control unit comprising: • a module for estimating the slope (α) based on the signals representative of the longitudinal acceleration (a x), of the pitch angular speed (ω y), and of the speeds (v left, v right) of said first and second (102") wheels; • a module for estimating the longitudinal thrust (F x) exerted by a user to the device based on the signals representative of the longitudinal acceleration (a x), of the speeds (v left, v right) of said first and second (102") wheels, of the command signals of the motors (I left, I right) and of the estimated slope (α); • a module for estimating the yaw torque (τ z) applied by the user on the movement device based on the signal representative of the yaw angular speed (w z); • a module for compensating the slope, configured to determine a slope compensating force (F slope) based on the estimated slope (α); • a thrust amplifying module, configured to determine a thrust aiding force (F push) based on the estimated longitudinal thrust (F x); • a yaw torque amplifying module, configured to determine a steering aiding force (F z) based on the estimated yaw torque (τ z); • a torque allocating module, configured to determine said command signals (I left, I right) of the first and second motors based on the slope compensating force (F slope), on the thrust aiding force (F push) and on the steering aiding force (F z). • a module for estimating the slope (α) based on the signals representative of the longitudinal acceleration (a x), of the pitch angular speed (ω y), and of the speeds (v left, v right) of said first and second (102") wheels; • a module for estimating the longitudinal thrust (F x) exerted by a user to the device based on the signals representative of the longitudinal acceleration (a x), of the speeds (v left, v right) of said first and second (102") wheels, of the command signals of the motors (I left, I right) and of the estimated slope (α); • a module for estimating the yaw torque (τ z) applied by the user on the movement device based on the signal representative of the yaw angular speed (w z); • a module for compensating the slope, configured to determine a slope compensating force (F slope) based on the estimated slope (α); • a thrust amplifying module, configured to determine a thrust aiding force (F push) based on the estimated longitudinal thrust (F x); • a yaw torque amplifying module, configured to determine a steering aiding force (F z) based on the estimated yaw torque (τ z); • a torque allocating module, configured to determine said command signals (I left, I right) of the first and second motors based on the slope compensating force (F slope), on the thrust aiding force (F push) and on the steering aiding force (F z).