In 2004, a study completed as a Master of Science Thesis at Izmir Institute of Technology introduced a new mechanism design by combining two symmetrical Lambda linkages to distribute the force evenly on to ground with providing the straight vertical wheel motion.
In 2004, a study conducted as part of a Master of Science Thesis at Izmir Institute of Technology introduced a new approach by combining two symmetrical Lambda linkages to achieve balanced force application to the ground while maintaining straight vertical wheel motion.