In 1954, Escher inspired Roger Penrose to create the impossible triangle. Roger shared this with his father, Lionel, who then designed the impossible staircase. In 1958, they published a paper on these illusions and sent a copy to Escher. Escher used Lionel's staircase to create Ascending and Descending and Roger's triangle to create Waterfall. Both Penrose and Escher were completely unaware that Oscar Reutersvärd had independently invented these shapes earlier.