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Simon Iversen and  Jerome Jouffroy,  Umbrella Wheel: A Stair-Climbing and Obstacle-Handling Wheel Design Concept.   journal   = {International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering}, [online]. World Academy of Science, Engineering and Technology. September 2017, vol. 129(9). 1540 - 1545[viewed 24 November 2017]. Available from: http://waset.org/publications/10007887.