A method for controlling movement of an intelligent wheel over a discontinuity in a travel surface. The intelligent wheel has a rotational hub and support disc portion that carries a series of arcuately spaced extendable, weight bearing radial spoke mechanisms that can be controllably extended and retracted...http://www.google.com.tw/patents/US7806208?utm_source=gb-gplus-share專利 US7806208 - Stair climbing platform apparatus and method
