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![5: A tricycle robot with a caster wheel for steering [39] | Download Scientific Diagram](https://www.researchgate.net/publication/337113915/figure/fig6/AS:823054187896834@1573242818517/A-tricycle-robot-with-a-caster-wheel-for-steering-39.jpg "5: A tricycle robot with a caster wheel for steering [39] | Download Scientific Diagram")