I remember this. I believe I read it in PopSci/Mech or some other magazine.

I once rode over a freshly paved road where I am sure the asphalt spreader operator was new to job, didn't run the machine right and left a very wavy road surface that squarish wheels would glide over.

Three wheel triangles do something like that with carts that climb over the staircase.

Avoid the sales pitch though.. I am just posting it for reference

https://www.youtube.com/watch?v=vievOxbPB3c